相关论文: Learning to Predict Robot Keypoints Using Artifici…

We introduce a new approach to probabilistic unsupervised learning based on the recognition-parametrised model (RPM): a normalised semi-parametric hypothesis class for joint distributions over observed and latent variables. Under the key…

Reversibility in artificial neural networks allows us to retrieve the input given an output. We present feature alignment, a method for approximating reversibility in arbitrary neural networks. We train a network by minimizing the distance…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…

When interacting with the world robots face a number of difficult questions, having to make decisions when given under-specified tasks where they need to make choices, often without clearly defined right and wrong answers. Humans, on the…

Current robot platforms are being employed to collaborate with humans in a wide range of domestic and industrial tasks. These environments require autonomous systems that are able to classify and communicate anomalous situations such as…

In this work, we study different approaches to self-supervised pretraining of object detection models. We first design a general framework to learn a spatially consistent dense representation from an image, by randomly sampling and…

This paper presents a framework for learning visual representations from unlabeled video demonstrations captured from multiple viewpoints. We show that these representations are applicable for imitating several robotic tasks, including pick…

This work presents an unsupervised deep learning scheme that exploiting high-dimensional assisted score-based generative model for color image restoration tasks. Considering that the sample number and internal dimension in score-based…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

The performance of supervised deep learning algorithms depends significantly on the scale, quality and diversity of the data used for their training. Collecting and manually annotating large amount of data can be both time-consuming and…

Authoring an appealing animation for a virtual character is a challenging task. In computer-aided keyframe animation artists define the key poses of a character by manipulating its underlying skeletons. To look plausible, a character pose…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

Optimal viewpoint prediction is an essential task in many computer graphics applications. Unfortunately, common viewpoint qualities suffer from two major drawbacks: dependency on clean surface meshes, which are not always available, and the…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

Data augmentation is widely used in vision to introduce variation and mitigate overfitting, by enabling models to learn invariant properties. However, augmentation only indirectly captures these properties and does not explicitly constrain…

Simulation is a useful tool in situations where training data for machine learning models is costly to annotate or even hard to acquire. In this work, we propose a reinforcement learning-based method for automatically adjusting the…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Randomized artificial neural networks such as extreme learning machines provide an attractive and efficient method for supervised learning under limited computing ressources and green machine learning. This especially applies when equipping…