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

Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…

We use multilayer Long Short Term Memory (LSTM) networks to learn representations of video sequences. Our model uses an encoder LSTM to map an input sequence into a fixed length representation. This representation is decoded using single or…

In face-to-face interaction, we use multiple modalities, including speech and gestures, to communicate information and resolve references to objects. However, how representational co-speech gestures refer to objects remains understudied…

Automatically recognizing surgical gestures is a crucial step towards a thorough understanding of surgical skill. Possible areas of application include automatic skill assessment, intra-operative monitoring of critical surgical steps, and…

The objective of this paper is self-supervised learning from video, in particular for representations for action recognition. We make the following contributions: (i) We propose a new architecture and learning framework Memory-augmented…

Generative models of 3D human motion are often restricted to a small number of activities and can therefore not generalize well to novel movements or applications. In this work we propose a deep learning framework for human motion capture…

Multimodal human action understanding is a significant problem in computer vision, with the central challenge being the effective utilization of the complementarity among diverse modalities while maintaining model efficiency. However, most…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…

This paper demonstrates that spatial information can be used to learn interpretable representations in medical images using Self-Supervised Learning (SSL). Our proposed method, ISImed, is based on the observation that medical images exhibit…

Surgical gesture recognition is important for surgical data science and computer-aided intervention. Even with robotic kinematic information, automatically segmenting surgical steps presents numerous challenges because surgical…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

In recent years, multimodal AI has seen an upward trend as researchers are integrating data of different types such as text, images, speech into modelling to get the best results. This project leverages multimodal AI and matrix…

We present an unsupervised representation learning approach that compactly encodes the motion dependencies in videos. Given a pair of images from a video clip, our framework learns to predict the long-term 3D motions. To reduce the…

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…

Videos captured from multiple viewpoints can help in perceiving the 3D structure of the world and benefit computer vision tasks such as action recognition, tracking, etc. In this paper, we present a method for self-supervised learning from…

Fingerprint recognition stands as a pivotal component of biometric technology, with diverse applications from identity verification to advanced search tools. In this paper, we propose a unique method for deriving robust fingerprint…

It is known that representations from self-supervised pre-training can perform on par, and often better, on various downstream tasks than representations from fully-supervised pre-training. This has been shown in a host of settings such as…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…