相关论文: Towards an Interpretable Latent Space in Structure…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Self-supervised learning of image representations by predicting future frames is a promising direction but still remains a challenge. This is because of the under-determined nature of frame prediction; multiple potential futures can arise…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

We introduce a novel latent vector space model that jointly learns the latent representations of words, e-commerce products and a mapping between the two without the need for explicit annotations. The power of the model lies in its ability…

A major goal of computer vision is to enable computers to interpret visual situations---abstract concepts (e.g., "a person walking a dog," "a crowd waiting for a bus," "a picnic") whose image instantiations are linked more by their common…

Learning to insert an object instance into an image in a semantically coherent manner is a challenging and interesting problem. Solving it requires (a) determining a location to place an object in the scene and (b) determining its…

Generalization has been one of the major challenges for learning dynamics models in model-based reinforcement learning. However, previous work on action-conditioned dynamics prediction focuses on learning the pixel-level motion and thus…

We propose a method for learning dynamical systems from high-dimensional empirical data that combines variational autoencoders and (spatio-)temporal attention within a framework designed to enforce certain scientifically-motivated…

Learning interpretable representations of visual data is an important challenge, to make machines' decisions understandable to humans and to improve generalisation outside of the training distribution. To this end, we propose a deep…

Intuitive observations show that a baby may inherently possess the capability of recognizing a new visual concept (e.g., chair, dog) by learning from only very few positive instances taught by parent(s) or others, and this recognition…

Over the past several years, we have witnessed impressive progress in the field of learned image compression. Recent learned image codecs are commonly based on autoencoders, that first encode an image into low-dimensional latent…

Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Temporal prediction is inherently uncertain, but representing the ambiguity in natural image sequences is a challenging high-dimensional probabilistic inference problem. For natural scenes, the curse of dimensionality renders explicit…

In this work, we address the challenging video scene parsing problem by developing effective representation learning methods given limited parsing annotations. In particular, we contribute two novel methods that constitute a unified parsing…

Robots need both visual and contact sensing to effectively estimate the state of their environment. Camera RGBD data provides rich information of the objects surrounding the robot, and shape priors can help correct noise and fill in gaps…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Video captioning is a challenging task that requires a deep understanding of visual scenes. State-of-the-art methods generate captions using either scene-level or object-level information but without explicitly modeling object interactions.…

Unsupervised video-based object-centric learning is a promising avenue to learn structured representations from large, unlabeled video collections, but previous approaches have only managed to scale to real-world datasets in restricted…

Recent advances in vision language models (VLM) have been driven by contrastive models such as CLIP, which learn to associate visual information with their corresponding text descriptions. However, these models have limitations in…