相关论文: SCALOR: Generative World Models with Scalable Obje…

Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement,…

Good pre-trained visual representations could enable robots to learn visuomotor policy efficiently. Still, existing representations take a one-size-fits-all-tasks approach that comes with two important drawbacks: (1) Being completely…

Understanding dynamics from visual observations is a challenging problem that requires disentangling individual objects from the scene and learning their interactions. While recent object-centric models can successfully decompose a scene…

Object-centric representation (OCR) has recently become a subject of interest in the computer vision community for learning a structured representation of images and videos. It has been several times presented as a potential way to improve…

Object-centric learning aims to decompose an input image into a set of meaningful object files (slots). These latent object representations enable a variety of downstream tasks. Yet, object-centric learning struggles on real-world datasets,…

Reinforcement learning (RL) offers a principled way to enhance the reasoning capabilities of large language models, yet its effectiveness hinges on training signals that remain informative as models evolve. In practice, RL progress often…

Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even…

Humans can discern scene-independent features of objects across various environments, allowing them to swiftly identify objects amidst changing factors such as lighting, perspective, size, and position and imagine the complete images of the…

Deep generative models allow for photorealistic image synthesis at high resolutions. But for many applications, this is not enough: content creation also needs to be controllable. While several recent works investigate how to disentangle…

Visual scenes are extremely diverse, not only because there are infinite possible combinations of objects and backgrounds but also because the observations of the same scene may vary greatly with the change of viewpoints. When observing a…

In order to perform autonomous sequential manipulation tasks, perception in cluttered scenes remains a critical challenge for robots. In this paper, we propose a probabilistic approach for robust sequential scene estimation and manipulation…

Predicting future scene representations is a crucial task for enabling robots to understand and interact with the environment. However, most existing methods rely on videos and simulations with precise action annotations, limiting their…

The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…

Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…

We propose a weakly-supervised approach for conditional image generation of complex scenes where a user has fine control over objects appearing in the scene. We exploit sparse semantic maps to control object shapes and classes, as well as…

We introduce the GANformer2 model, an iterative object-oriented transformer, explored for the task of generative modeling. The network incorporates strong and explicit structural priors, to reflect the compositional nature of visual scenes,…

Object-centric learning aims to represent visual data with a set of object entities (a.k.a. slots), providing structured representations that enable systematic generalization. Leveraging advanced architectures like Transformers, recent…

The idea behind object-centric representation learning is that natural scenes can better be modeled as compositions of objects and their relations as opposed to distributed representations. This inductive bias can be injected into neural…