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Deep learning-based video salient object detection has recently achieved great success with its performance significantly outperforming any other unsupervised methods. However, existing data-driven approaches heavily rely on a large…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

We tackle semi-supervised object detection based on motion cues. Recent results suggest that heuristic-based clustering methods in conjunction with object trackers can be used to pseudo-label instances of moving objects and use these as…

Semi-Supervised Object Detection (SSOD), aiming to explore unlabeled data for boosting object detectors, has become an active task in recent years. However, existing SSOD approaches mainly focus on horizontal objects, leaving multi-oriented…

Semi-supervised object detection has recently achieved substantial progress. As a mainstream solution, the self-labeling-based methods train the detector on both labeled data and unlabeled data with pseudo labels predicted by the detector…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

Embodied agents must detect and localize objects of interest, e.g. traffic participants for self-driving cars. Supervision in the form of bounding boxes for this task is extremely expensive. As such, prior work has looked at unsupervised…

It is challenging to train a robust object detector under the supervised learning setting when the annotated data are scarce. Thus, previous approaches tackling this problem are in two categories: semi-supervised learning models that…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

In this work, we study different approaches to self-supervised pretraining of object detection models. We first design a general framework to learn a spatially consistent dense representation from an image, by randomly sampling and…

Semi-supervised object detection (SSOD), leveraging unlabeled data to boost object detectors, has become a hot topic recently. However, existing SSOD approaches mainly focus on horizontal objects, leaving oriented objects common in aerial…

Robust 3D object detection remains a pivotal concern in the domain of autonomous field robotics. Despite notable enhancements in detection accuracy across standard datasets, real-world urban environments, characterized by their unstructured…

3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel semi-supervised method for 3D object detection…

Unsupervised domain adaptation (DA) with the aid of pseudo labeling techniques has emerged as a crucial approach for domain-adaptive 3D object detection. While effective, existing DA methods suffer from a substantial drop in performance…

Semi-supervised learning aims to leverage numerous unlabeled data to improve the model performance. Current semi-supervised 3D object detection methods typically use a teacher to generate pseudo labels for a student, and the quality of the…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Event-based object detection has recently garnered attention in the computer vision community due to the exceptional properties of event cameras, such as high dynamic range and no motion blur. However, feature asynchronism and sparsity…

We study how to leverage Web images to augment human-curated object detection datasets. Our approach is two-pronged. On the one hand, we retrieve Web images by image-to-image search, which incurs less domain shift from the curated data than…

Existing weakly or semi-supervised semantic segmentation methods utilize image or box-level supervision to generate pseudo-labels for weakly labeled images. However, due to the lack of strong supervision, the generated pseudo-labels are…