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

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

This paper proposes a novel pretext task to address the self-supervised video representation learning problem. Specifically, given an unlabeled video clip, we compute a series of spatio-temporal statistical summaries, such as the spatial…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

In this work, we address the lack of 3D understanding of generative neural networks by introducing a persistent 3D feature embedding for view synthesis. To this end, we propose DeepVoxels, a learned representation that encodes the…

We propose a framework for learning neural scene representations directly from images, without 3D supervision. Our key insight is that 3D structure can be imposed by ensuring that the learned representation transforms like a real 3D scene.…

Deep neural networks are efficient learning machines which leverage upon a large amount of manually labeled data for learning discriminative features. However, acquiring substantial amount of supervised data, especially for videos can be a…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

This work explores the use of spatial context as a source of free and plentiful supervisory signal for training a rich visual representation. Given only a large, unlabeled image collection, we extract random pairs of patches from each image…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Neural implicit functions have achieved impressive results for reconstructing 3D shapes from single images. However, the image features for describing 3D point samplings of implicit functions are less effective when significant variations…

We present an approach that learns to synthesize high-quality, novel views of 3D objects or scenes, while providing fine-grained and precise control over the 6-DOF viewpoint. The approach is self-supervised and only requires 2D images and…

Prior works for reconstructing hand-held objects from a single image train models on images paired with 3D shapes. Such data is challenging to gather in the real world at scale. Consequently, these approaches do not generalize well when…

Over the last years, deep convolutional neural networks (ConvNets) have transformed the field of computer vision thanks to their unparalleled capacity to learn high level semantic image features. However, in order to successfully learn…

To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…

Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…