相关论文: Energy-Based Generative Cooperative Saliency Predi…

Recently, the philosophy of visual saliency and attention has started to gain popularity in the robotics community. Therefore, this paper aims to mimic this mechanism in SLAM framework by using saliency prediction model. Comparing with…

This paper proposes a multi-grid method for learning energy-based generative ConvNet models of images. For each grid, we learn an energy-based probabilistic model where the energy function is defined by a bottom-up convolutional neural…

Human visual attention is a complex phenomenon. A computational modeling of this phenomenon must take into account where people look in order to evaluate which are the salient locations (spatial distribution of the fixations), when they…

Deeply-learned planning methods are often based on learning representations that are optimized for unrelated tasks. For example, they might be trained on reconstructing the environment. These representations are then combined with predictor…

In this work, we explore joint energy-based model (EBM) training during the finetuning of pretrained text encoders (e.g., Roberta) for natural language understanding (NLU) tasks. Our experiments show that EBM training can help the model…

In autonomous driving, relying solely on frame-based cameras can lead to inaccuracies caused by factors like long exposure times, high-speed motion, and challenging lighting conditions. To address these issues, we introduce a bio-inspired…

Most existing approaches formulate action quality assessment and skill proficiency estimation as discriminative prediction tasks, typically producing discrete labels or scores without explicitly modeling the reasoning process underlying the…

In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural…

Predicting future frames for a video sequence is a challenging generative modeling task. Promising approaches include probabilistic latent variable models such as the Variational Auto-Encoder. While VAEs can handle uncertainty and model…

Methods based on class activation maps (CAM) provide a simple mechanism to interpret predictions of convolutional neural networks by using linear combinations of feature maps as saliency maps. By contrast, masking-based methods optimize a…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Energy-Based Models (EBMs) present a flexible and appealing way to represent uncertainty. Despite recent advances, training EBMs on high-dimensional data remains a challenging problem as the state-of-the-art approaches are costly, unstable,…

In this paper we propose a Kalman filter aided saliency detection model which is based on the conjecture that salient regions are considerably different from our "visual expectation" or they are "visually surprising" in nature. In this…

We propose a novel method called Long Expressive Memory (LEM) for learning long-term sequential dependencies. LEM is gradient-based, it can efficiently process sequential tasks with very long-term dependencies, and it is sufficiently…

Auto-encoding Variational Bayes (AEVB) is a powerful and general algorithm for fitting latent variable models (a promising direction for unsupervised learning), and is well-known for training the Variational Auto-Encoder (VAE). In this…

Saliency maps that identify the most informative regions of an image for a classifier are valuable for model interpretability. A common approach to creating saliency maps involves generating input masks that mask out portions of an image to…

Diffusion models offer unprecedented image generation power given just a text prompt. While emerging approaches for controlling diffusion models have enabled users to specify the desired spatial layouts of the generated content, they cannot…

Image-to-image translation aims to preserve source contents while translating to discriminative target styles between two visual domains. Most works apply adversarial learning in the ambient image space, which could be computationally…

Successful Human-Robot collaboration requires a predictive model of human behavior. The robot needs to be able to recognize current goals and actions and to predict future activities in a given context. However, the spatio-temporal sequence…

Collaborative filtering analyzes user preferences for items (e.g., books, movies, restaurants, academic papers) by exploiting the similarity patterns across users. In implicit feedback settings, all the items, including the ones that a user…