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

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

Self-supervised tasks have been utilized to build useful representations that can be used in downstream tasks when the annotation is unavailable. In this paper, we introduce a self-supervised video representation learning method based on…

Learning to navigate in a realistic setting where an agent must rely solely on visual inputs is a challenging task, in part because the lack of position information makes it difficult to provide supervision during training. In this paper,…

Intelligent agents should be able to learn useful representations by observing changes in their environment. We model such observations as pairs of non-i.i.d. images sharing at least one of the underlying factors of variation. First, we…

In order to deploy autonomous agents to domains such as autonomous driving, infrastructure management, health care, and finance, they must be able to adapt safely to unseen situations. The current approach in constructing such agents is to…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…

In the context of mobile sensing environments, various sensors on mobile devices continually generate a vast amount of data. Analyzing this ever-increasing data presents several challenges, including limited access to annotated data and a…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

Self-supervised learning is a powerful paradigm for representation learning on unlabelled images. A wealth of effective new methods based on instance matching rely on data-augmentation to drive learning, and these have reached a rough…

Deep supervised learning has achieved great success in the last decade. However, its deficiencies of dependence on manual labels and vulnerability to attacks have driven people to explore a better solution. As an alternative,…

We propose a self-supervised algorithm to learn representations from egocentric video data. Recently, significant efforts have been made to capture humans interacting with their own environments as they go about their daily activities. In…

We present a self-supervised method to improve an agent's abilities in describing arbitrary objects while actively exploring a generic environment. This is a challenging problem, as current models struggle to obtain coherent image captions…

This paper proposes a novel pretext task to address the self-supervised video representation learning problem. Specifically, given an unlabeled video clip, we compute a series of spatio-temporal statistical summaries, such as the spatial…

Operating directly from raw high dimensional sensory inputs like images is still a challenge for robotic control. Recently, Reinforcement Learning methods have been proposed to solve specific tasks end-to-end, from pixels to torques.…

Self-supervised representation learning has achieved remarkable success in recent years. By subverting the need for supervised labels, such approaches are able to utilize the numerous unlabeled images that exist on the Internet and in…

Self-supervised learning has emerged as a powerful paradigm for label-free model pretraining, particularly in the video domain, where manual annotation is costly and time-intensive. However, existing self-supervised approaches employ…

Despite the success of a number of recent techniques for visual self-supervised deep learning, there has been limited investigation into the representations that are ultimately learned. By leveraging recent advances in the comparison of…

We propose a self-supervised approach for learning physics-based subspaces for real-time simulation. Existing learning-based methods construct subspaces by approximating pre-defined simulation data in a purely geometric way. However, this…

Establishing visual correspondence across images is a challenging and essential task. Recently, an influx of self-supervised methods have been proposed to better learn representations for visual correspondence. However, we find that these…

Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…