相关论文: Unsupervised Object Keypoint Learning using Local …

This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from…

Interest point detection and local feature description are fundamental steps in many computer vision applications. Classical methods for these tasks are based on a detect-then-describe paradigm where separate handcrafted methods are used to…

The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…

In neuroscience, attention has been shown to bidirectionally interact with reinforcement learning (RL) processes. This interaction is thought to support dimensionality reduction of task representations, restricting computations to relevant…

In this paper we address the problem of unsupervised localization of objects in single images. Compared to previous state-of-the-art method our method is fully unsupervised in the sense that there is no prior instance level or category…

In this work, we explore the task of semantic object keypoint discovery weakly-supervised by only category labels. This is achieved by transforming discriminatively-trained intermediate layer filters into keypoint detectors. We begin by…

In order to explore and act autonomously in an environment, an agent needs to learn from the sensorimotor information that is captured while acting. By extracting the regularities in this sensorimotor stream, it can learn a model of the…

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…

Humans are remarkably good at understanding and reasoning about complex visual scenes. The capability to decompose low-level observations into discrete objects allows us to build a grounded abstract representation and identify the…

The aim of object-centric vision is to construct an explicit representation of the objects in a scene. This representation is obtained via a set of interchangeable modules called \emph{slots} or \emph{object files} that compete for local…

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…

We introduce a learning-based approach for room navigation using semantic maps. Our proposed architecture learns to predict top-down belief maps of regions that lie beyond the agent's field of view while modeling architectural and stylistic…

We propose a novel attention model that can accurately attends to target objects of various scales and shapes in images. The model is trained to gradually suppress irrelevant regions in an input image via a progressive attentive process…

We present Language-mediated, Object-centric Representation Learning (LORL), a paradigm for learning disentangled, object-centric scene representations from vision and language. LORL builds upon recent advances in unsupervised object…

Contrastive self-supervised learning has shown impressive results in learning visual representations from unlabeled images by enforcing invariance against different data augmentations. However, the learned representations are often…

Understanding point clouds is of great importance. Many previous methods focus on detecting salient keypoints to identity structures of point clouds. However, existing methods neglect the semantics of points selected, leading to poor…

Region-based artificial attention constitutes a framework for bio-inspired attentional processes on an intermediate abstraction level for the use in computer vision and mobile robotics. Segmentation algorithms produce regions of coherently…

Vision Language Models (VLMs) have recently achieved significant progress in bridging visual perception and linguistic reasoning. Recently, OpenAI o3 model introduced a zoom-in search strategy that effectively elicits active perception…

Self-training has greatly facilitated domain adaptive semantic segmentation, which iteratively generates pseudo labels on unlabeled target data and retrains the network. However, realistic segmentation datasets are highly imbalanced, pseudo…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…