相关论文: Occlusion resistant learning of intuitive physics …

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

Many current methods to learn intuitive physics are based on interaction networks and similar approaches. However, they rely on information that has proven difficult to estimate directly from image data in the past. We aim to narrow this…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

While learning models of intuitive physics is an increasingly active area of research, current approaches still fall short of natural intelligences in one important regard: they require external supervision, such as explicit access to…

Object Permanence allows people to reason about the location of non-visible objects, by understanding that they continue to exist even when not perceived directly. Object Permanence is critical for building a model of the world, since…

Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…

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…

The ability to predict future outcomes conditioned on observed video frames is crucial for intelligent decision-making in autonomous systems. Recently, deep recurrent architectures have been applied to the task of video prediction. However,…

For computer vision systems to operate in dynamic situations, they need to be able to represent and reason about object permanence. We introduce a framework for learning to estimate 4D visual representations from monocular RGB-D, which is…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

We present a method for inferring diverse 3D models of human-object interactions from images. Reasoning about how humans interact with objects in complex scenes from a single 2D image is a challenging task given ambiguities arising from the…

Temporal prediction is inherently uncertain, but representing the ambiguity in natural image sequences is a challenging high-dimensional probabilistic inference problem. For natural scenes, the curse of dimensionality renders explicit…

Many surface cues support three-dimensional shape perception, but people can sometimes still see shape when these features are missing -- in extreme cases, even when an object is completely occluded, as when covered with a draped cloth. We…

Video prediction is a crucial task for intelligent agents such as robots and autonomous vehicles, since it enables them to anticipate and act early on time-critical incidents. State-of-the-art video prediction methods typically model the…

Understanding causes and effects in mechanical systems is an essential component of reasoning in the physical world. This work poses a new problem of counterfactual learning of object mechanics from visual input. We develop the CoPhy…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

Flexible industrial production systems will play a central role in the future of manufacturing due to higher product individualization and customization. A key component in such systems is the robotic grasping of known or unknown objects in…

Single view-based reconstruction of hand-object interaction is challenging due to the severe observation missing caused by occlusions. This paper proposes a physics-based method to better solve the ambiguities in the reconstruction. It…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…