相关论文: Unsupervised Learning of Visual 3D Keypoints for C…

Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

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…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

A 3D scene consists of a set of objects, each with a shape and a layout giving their position in space. Understanding 3D scenes from 2D images is an important goal, with applications in robotics and graphics. While there have been recent…

In this work we introduce Lifting Autoencoders, a generative 3D surface-based model of object categories. We bring together ideas from non-rigid structure from motion, image formation, and morphable models to learn a controllable, geometric…

Deep neural networks can model images with rich latent representations, but they cannot naturally conceptualize structures of object categories in a human-perceptible way. This paper addresses the problem of learning object structures in an…

We propose an unsupervised method for 3D geometry-aware representation learning of articulated objects, in which no image-pose pairs or foreground masks are used for training. Though photorealistic images of articulated objects can be…

3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional…

We present a method to learn the 3D surface of objects directly from a collection of images. Previous work achieved this capability by exploiting additional manual annotation, such as object pose, 3D surface templates, temporal continuity…

Recent advancements in deep learning opened new opportunities for learning a high-quality 3D model from a single 2D image given sufficient training on large-scale data sets. However, the significant imbalance between available amount of…

Neuroscientists postulate 3D representations in the brain in a variety of different coordinate frames (e.g. 'head-centred', 'hand-centred' and 'world-based'). Recent advances in reinforcement learning demonstrate a quite different approach…

Quantifying motion in 3D is important for studying the behavior of humans and other animals, but manual pose annotations are expensive and time-consuming to obtain. Self-supervised keypoint discovery is a promising strategy for estimating…

We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…

In recent years, more and more attention has been paid to the learning of 3D human representation. However, the complexity of lots of hand-defined human body constraints and the absence of supervision data limit that the existing works…

Extracting informative representations from videos is fundamental for effectively learning various downstream tasks. We present a novel approach for unsupervised learning of meaningful representations from videos, leveraging the concept of…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

Unsupervised learning of keypoints and landmarks has seen significant progress with the help of modern neural network architectures, but performance is yet to match the supervised counterpart, making their practicability questionable. We…