相关论文: Learning the Predictability of the Future

The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…

One central question for video action recognition is how to model motion. In this paper, we present hierarchical contrastive motion learning, a new self-supervised learning framework to extract effective motion representations from raw…

Current state-of-the-art classification and detection algorithms rely on supervised training. In this work we study unsupervised feature learning in the context of temporally coherent video data. We focus on feature learning from unlabeled…

We study a generalized setup for learning from demonstration to build an agent that can manipulate novel objects in unseen scenarios by looking at only a single video of human demonstration from a third-person perspective. To accomplish…

How can unlabeled video augment visual learning? Existing methods perform "slow" feature analysis, encouraging the representations of temporally close frames to exhibit only small differences. While this standard approach captures the fact…

This paper presents a framework for learning visual representations from unlabeled video demonstrations captured from multiple viewpoints. We show that these representations are applicable for imitating several robotic tasks, including pick…

Learning graph representations via low-dimensional embeddings that preserve relevant network properties is an important class of problems in machine learning. We here present a novel method to embed directed acyclic graphs. Following prior…

Predicting future video frames is extremely challenging, as there are many factors of variation that make up the dynamics of how frames change through time. Previously proposed solutions require complex inductive biases inside network…

Most model-free reinforcement learning methods leverage state representations (embeddings) for generalization, but either ignore structure in the space of actions or assume the structure is provided a priori. We show how a policy can be…

A visual system has to learn both which features to extract from images and how to group locations into (proto-)objects. Those two aspects are usually dealt with separately, although predictability is discussed as a cue for both. To…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Learning the representation of data with hierarchical structures in the hyperbolic space attracts increasing attention in recent years. Due to the constant negative curvature, the hyperbolic space resembles tree metrics and captures the…

We address the task of domain generalization, where the goal is to train a predictive model such that it is able to generalize to a new, previously unseen domain. We choose a hierarchical generative approach within the framework of…

While stochastic video prediction models enable future prediction under uncertainty, they mostly fail to model the complex dynamics of real-world scenes. For example, they cannot provide reliable predictions for scenes with a moving camera…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

Generalized Category Discovery (GCD) is an intriguing open-world problem that has garnered increasing attention. Given a dataset that includes both labelled and unlabelled images, GCD aims to categorize all images in the unlabelled subset,…

Understanding how images of objects and scenes behave in response to specific ego-motions is a crucial aspect of proper visual development, yet existing visual learning methods are conspicuously disconnected from the physical source of…

We consider the task of representation learning for unsupervised segmentation of 3D voxel-grid biomedical images. We show that models that capture implicit hierarchical relationships between subvolumes are better suited for this task. To…

Video is a scalable observation of physical dynamics: it captures how objects move, how contact unfolds, and how scenes evolve under interaction -- all without requiring robot action labels. Yet translating this temporal structure into…

In semi-supervised learning, methods that rely on confidence learning to generate pseudo-labels have been widely proposed. However, increasing research finds that when faced with noisy and biased data, the model's representation network is…