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

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Masked autoencoders (MAEs) have emerged recently as art self-supervised spatiotemporal representation learners. Inheriting from the image counterparts, however, existing video MAEs still focus largely on static appearance learning whilst…

Sequential modelling of high-dimensional data is an important problem that appears in many domains including model-based reinforcement learning and dynamics identification for control. Latent variable models applied to sequential data…

The recent success in human action recognition with deep learning methods mostly adopt the supervised learning paradigm, which requires significant amount of manually labeled data to achieve good performance. However, label collection is an…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

The objective of this paper is self-supervised learning of spatio-temporal embeddings from video, suitable for human action recognition. We make three contributions: First, we introduce the Dense Predictive Coding (DPC) framework for…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

A key challenge in self-supervised video representation learning is how to effectively capture motion information besides context bias. While most existing works implicitly achieve this with video-specific pretext tasks (e.g., predicting…

Representation Learning is a significant and challenging task in multimodal learning. Effective modality representations should contain two parts of characteristics: the consistency and the difference. Due to the unified multimodal…

Recent advances in machine learning models allowed robots to identify objects on a perceptual nonsymbolic level (e.g., through sensor fusion and natural language understanding). However, these primarily black-box learning models still lack…

One of the most critical aspects of multimodal Reinforcement Learning (RL) is the effective integration of different observation modalities. Having robust and accurate representations derived from these modalities is key to enhancing the…

Self-supervised learning (SSL), which aims to learn meaningful prior representations from unlabeled data, has been proven effective for skeleton-based action understanding. Different from the image domain, skeleton data possesses sparser…

We introduce a novel self-supervised learning approach to learn representations of videos that are responsive to changes in the motion dynamics. Our representations can be learned from data without human annotation and provide a substantial…

We address the problem of video representation learning without human-annotated labels. While previous efforts address the problem by designing novel self-supervised tasks using video data, the learned features are merely on a…

Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…

Learning visual representations through self-supervision is an extremely challenging task as the network needs to sieve relevant patterns from spurious distractors without the active guidance provided by supervision. This is achieved…

Deep learning methods have revolutionized speech recognition, image recognition, and natural language processing since 2010. Each of these tasks involves a single modality in their input signals. However, many applications in the artificial…

There has been a growing interest in using deep learning models for processing long surgical videos, in order to automatically detect clinical/operational activities and extract metrics that can enable workflow efficiency tools and…

Humans rely on the synergy of their senses for most essential tasks. For tasks requiring object manipulation, we seamlessly and effectively exploit the complementarity of our senses of vision and touch. This paper draws inspiration from…

Dexterous manipulation is a cornerstone capability for robotic systems aiming to interact with the physical world in a human-like manner. Although vision-based methods have advanced rapidly, tactile sensing remains crucial for fine-grained…