相关论文: Visual Grounding of Learned Physical Models

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

Here we present DeepGaze II, a model that predicts where people look in images. The model uses the features from the VGG-19 deep neural network trained to identify objects in images. Contrary to other saliency models that use deep features,…

Physical simulations that accurately model reality are crucial for many engineering disciplines such as mechanical engineering and robotic motion planning. In recent years, learned Graph Network Simulators produced accurate mesh-based…

We present a method to populate an unknown environment with models of previously seen objects, placed in a Euclidean reference frame that is inferred causally and on-line using monocular video along with inertial sensors. The system we…

Humans can effortlessly anticipate how objects might move or change through interaction--imagining a cup being lifted, a knife slicing, or a lid being closed. We aim to endow computational systems with a similar ability to predict plausible…

Perceptual learning enables humans to recognize and represent stimuli invariant to various transformations and build a consistent representation of the self and physical world. Such representations preserve the invariant physical relations…

Recent advances in large-scale pretraining have yielded visual foundation models with strong capabilities. Not only can recent models generalize to arbitrary images for their training task, their intermediate representations are useful for…

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

While deep learning has been very successful in computer vision, real world operating conditions such as lighting variation, background clutter, or occlusion hinder its accuracy across several tasks. Prior work has shown that hybrid models…

Effective inclusion of physics-based knowledge into deep neural network models of dynamical systems can greatly improve data efficiency and generalization. Such a-priori knowledge might arise from physical principles (e.g., conservation…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

In this paper, we tackle the problem of pushing piles of small objects into a desired target set using visual feedback. Unlike conventional single-object manipulation pipelines, which estimate the state of the system parametrized by pose,…

Modeling and prediction of human motion dynamics has long been a challenging problem in computer vision, and most existing methods rely on the end-to-end supervised training of various architectures of recurrent neural networks. Inspired by…

Modern neural language models (LMs) are powerful tools for modeling human sentence production and comprehension, and their internal representations are remarkably well-aligned with representations of language in the human brain. But to…

People infer rich social information from others' actions. These inferences are often constrained by the physical world: what agents can do, what obstacles permit, and how the physical actions of agents causally change an environment and…

The ability to predict future states of the environment is a central pillar of intelligence. At its core, effective prediction requires an internal model of the world and an understanding of the rules by which the world changes. Here, we…

We introduce a physics-informed neural framework for modeling static and time-dependent galactic gravitational potentials. The method combines data-driven learning with embedded physical constraints to capture complex, small-scale features…

In this paper, we propose a transformer based approach for visual grounding. Unlike previous proposal-and-rank frameworks that rely heavily on pretrained object detectors or proposal-free frameworks that upgrade an off-the-shelf one-stage…