相关论文: Multimodal and self-supervised representation lear…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Self-supervised representation learning is able to learn semantically meaningful features; however, much of its recent success relies on multiple crops of an image with very few objects. Instead of learning view-invariant representation…

Modern video summarization methods are based on deep neural networks that require a large amount of annotated data for training. However, existing datasets for video summarization are small-scale, easily leading to over-fitting of the deep…

Videos are a rich source of multi-modal supervision. In this work, we learn representations using self-supervision by leveraging three modalities naturally present in videos: visual, audio and language streams. To this end, we introduce the…

The success of deep learning based models for computer vision applications requires large scale human annotated data which are often expensive to generate. Self-supervised learning, a subset of unsupervised learning, handles this problem by…

Emotion recognition is a topic of significant interest in assistive robotics due to the need to equip robots with the ability to comprehend human behavior, facilitating their effective interaction in our society. Consequently, efficient and…

Emotion recognition is a challenging task due to limited availability of in-the-wild labeled datasets. Self-supervised learning has shown improvements on tasks with limited labeled datasets in domains like speech and natural language.…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Deep learning has been the subject of growing interest in recent years. Specifically, a specific type called Multimodal learning has shown great promise for solving a wide range of problems in domains such as language, vision, audio, etc.…

Kinematic trajectories recorded from surgical robots contain information about surgical gestures and potentially encode cues about surgeon's skill levels. Automatic segmentation of these trajectories into meaningful action units could help…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of…

Self-supervised learning is an efficient pre-training method for medical image analysis. However, current research is mostly confined to specific-modality data pre-training, consuming considerable time and resources without achieving…

Human communication is multi-modal; e.g., face-to-face interaction involves auditory signals (speech) and visual signals (face movements and hand gestures). Hence, it is essential to exploit multiple modalities when designing machine…

Recent advances in deep learning have achieved promising performance for medical image analysis, while in most cases ground-truth annotations from human experts are necessary to train the deep model. In practice, such annotations are…

Recognition of surgical gesture is crucial for surgical skill assessment and efficient surgery training. Prior works on this task are based on either variant graphical models such as HMMs and CRFs, or deep learning models such as Recurrent…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

Data-driven approaches to assist operating room (OR) workflow analysis depend on large curated datasets that are time consuming and expensive to collect. On the other hand, we see a recent paradigm shift from supervised learning to…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Motions are reflected in videos as the movement of pixels, and actions are essentially patterns of inconsistent motions between the foreground and the background. To well distinguish the actions, especially those with complicated…