相关论文: Weakly-Supervised Road Affordances Inference and L…

Unsupervised representation learning aims at finding methods that learn representations from data without annotation-based signals. Abstaining from annotations not only leads to economic benefits but may - and to some extent already does -…

We describe a latent approach that learns to detect actions in long sequences given training videos with only whole-video class labels. Our approach makes use of two innovations to attention-modeling in weakly-supervised learning. First,…

Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…

The ability to understand the ways to interact with objects from visual cues, a.k.a. visual affordance, is essential to vision-guided robotic research. This involves categorizing, segmenting and reasoning of visual affordance. Relevant…

When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

For many prediction tasks, stakeholders desire not only predictions but also supporting evidence that a human can use to verify its correctness. However, in practice, additional annotations marking supporting evidence may only be available…

This paper presents a fully unsupervised approach for binary road segmentation (road vs. non-road), eliminating the reliance on costly manually labeled datasets. The method leverages scene geometry and temporal cues to distinguish road from…

Point annotations are considerably more time-efficient than bounding box annotations. However, how to use cheap point annotations to boost the performance of semi-supervised object detection remains largely unsolved. In this work, we…

Supervised learning in large discriminative models is a mainstay for modern computer vision. Such an approach necessitates investing in large-scale human-annotated datasets for achieving state-of-the-art results. In turn, the efficacy of…

Visual affordance learning is crucial for robots to understand and interact effectively with the physical world. Recent advances in this field attempt to leverage pre-trained knowledge of vision-language foundation models to learn…

Existing camouflaged object detection (COD) methods rely heavily on large-scale datasets with pixel-wise annotations. However, due to the ambiguous boundary, annotating camouflage objects pixel-wisely is very time-consuming and…

Learning an object detector or retrieval requires a large data set with manual annotations. Such data sets are expensive and time consuming to create and therefore difficult to obtain on a large scale. In this work, we propose to exploit…

The term "affordance" denotes the behavioral meaning of objects. We propose a cognitive architecture for the detection of affordances in the visual modality. This model is based on the internal simulation of movement sequences. For each…

Safe path planning in autonomous driving is a complex task due to the interplay of static scene elements and uncertain surrounding agents. While all static scene elements are a source of information, there is asymmetric importance to the…

We consider the problem of weakly supervised object detection, where the training samples are annotated using only image-level labels that indicate the presence or absence of an object category. In order to model the uncertainty in the…

Weakly supervised learning with only coarse labels can obtain visual explanations of deep neural network such as attention maps by back-propagating gradients. These attention maps are then available as priors for tasks such as object…

Tool use requires reasoning about the fit between an object's affordances and the demands of a task. Visual affordance learning can benefit from goal-directed interaction experience, but current techniques rely on human labels or expert…

Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…