相关论文: Plan2Vec: Unsupervised Representation Learning by …

Deep clustering against self-supervised learning is a very important and promising direction for unsupervised visual representation learning since it requires little domain knowledge to design pretext tasks. However, the key component,…

In recent visual self-supervision works, an imitated classification objective, called pretext task, is established by assigning labels to transformed or augmented input images. The goal of pretext can be predicting what transformations are…

Recently, there has been great success in applying deep neural networks on graph structured data. Most work, however, focuses on either node- or graph-level supervised learning, such as node, link or graph classification or node-level…

The smallest eigenvectors of the graph Laplacian are well-known to provide a succinct representation of the geometry of a weighted graph. In reinforcement learning (RL), where the weighted graph may be interpreted as the state transition…

Learning sensorimotor control policies from high-dimensional images crucially relies on the quality of the underlying visual representations. Prior works show that structured latent space such as visual keypoints often outperforms…

Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…

We introduce a novel learning-based method for encoding and manipulating 3D surface meshes. Our method is specifically designed to create an interpretable embedding space for deformable shape collections. Unlike previous 3D mesh…

Self-supervised representation learning targets to learn convnet-based image representations from unlabeled data. Inspired by the success of NLP methods in this area, in this work we propose a self-supervised approach based on spatially…

Data representations that contain all the information about target variables but are invariant to nuisance factors benefit supervised learning algorithms by preventing them from learning associations between these factors and the targets,…

The present phase of Machine Learning is characterized by supervised learning algorithms relying on large sets of labeled examples ($n \to \infty$). The next phase is likely to focus on algorithms capable of learning from very few labeled…

Scene graphs are a powerful structured representation of the underlying content of images, and embeddings derived from them have been shown to be useful in multiple downstream tasks. In this work, we employ a graph convolutional network to…

We introduce Act2Vec, a general framework for learning context-based action representation for Reinforcement Learning. Representing actions in a vector space help reinforcement learning algorithms achieve better performance by grouping…

Neuroscientists postulate 3D representations in the brain in a variety of different coordinate frames (e.g. 'head-centred', 'hand-centred' and 'world-based'). Recent advances in reinforcement learning demonstrate a quite different approach…

Learning universal graph representations across heterogeneous domains is difficult because graph datasets differ in topology, node-attribute semantics, feature dimensions, and even attribute availability. We propose GraphVec, a…

Neural networks have been shown to be an effective tool for learning algorithms over graph-structured data. However, graph representation techniques---that convert graphs to real-valued vectors for use with neural networks---are still in…

Self-supervised learning methods such as wav2vec 2.0 have shown promising results in learning speech representations from unlabelled and untranscribed speech data that are useful for speech recognition. Since these representations are…

Learning disentangled representations from visual data, where different high-level generative factors are independently encoded, is of importance for many computer vision tasks. Solving this problem, however, typically requires to…

We propose a novel unsupervised object localization method that allows us to explain the predictions of the model by utilizing self-supervised pre-trained models without additional finetuning. Existing unsupervised and self-supervised…