相关论文: Supervise Thyself: Examining Self-Supervised Repre…

Despite its rise as a prominent solution to the data inefficiency of today's machine learning models, self-supervised learning has yet to be studied from a purely multi-agent perspective. In this work, we propose that aligning internal…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

In self-supervised learning, a model is trained to solve a pretext task, using a data set whose annotations are created by a machine. The objective is to transfer the trained weights to perform a downstream task in the target domain. We…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

As a subset of unsupervised representation learning, self-supervised representation learning adopts self-defined signals as supervision and uses the learned representation for downstream tasks, such as object detection and image captioning.…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

We witnessed a massive growth in the supervised learning paradigm in the past decade. Supervised learning requires a large amount of labeled data to reach state-of-the-art performance. However, labeling the samples requires a lot of human…

Visual place recognition is a key to unlocking spatial navigation for animals, humans and robots. While state-of-the-art approaches are trained in a supervised manner and therefore hardly capture the information needed for generalizing to…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

Learning meaningful representations is at the heart of many tasks in the field of modern machine learning. Recently, a lot of methods were introduced that allow learning of image representations without supervision. These representations…

We propose an approach to self-supervised representation learning based on maximizing mutual information between features extracted from multiple views of a shared context. For example, one could produce multiple views of a local…

Self-supervised learning aims to learn representations from the data itself without explicit manual supervision. Existing efforts ignore a crucial aspect of self-supervised learning - the ability to scale to large amount of data because…

Self-supervised learning is an effective way for label-free model pre-training, especially in the video domain where labeling is expensive. Existing self-supervised works in the video domain use varying experimental setups to demonstrate…

We address the problem of learning self-supervised representations from unlabeled image collections. Unlike existing approaches that attempt to learn useful features by maximizing similarity between augmented versions of each input image or…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

Self-supervised learning has attracted plenty of recent research interest. However, most works for self-supervision in speech are typically unimodal and there has been limited work that studies the interaction between audio and visual…