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

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled. Previous work has explored per-ception for kinematics, but none infers a complete…

What would be the effect of locally poking a static scene? We present an approach that learns naturally-looking global articulations caused by a local manipulation at a pixel level. Training requires only videos of moving objects but no…

We propose an architecture and training scheme to predict video frames by explicitly modeling dis-occlusions and capturing the evolution of semantically consistent regions in the video. The scene layout (semantic map) and motion (optical…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

Object-centric learning aims to decompose an input image into a set of meaningful object files (slots). These latent object representations enable a variety of downstream tasks. Yet, object-centric learning struggles on real-world datasets,…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

Learning to fuse vision and language information and representing them is an important research problem with many applications. Recent progresses have leveraged the ideas of pre-training (from language modeling) and attention layers in…

While great strides have been made in using deep learning algorithms to solve supervised learning tasks, the problem of unsupervised learning - leveraging unlabeled examples to learn about the structure of a domain - remains a difficult…

Understanding causes and effects in mechanical systems is an essential component of reasoning in the physical world. This work poses a new problem of counterfactual learning of object mechanics from visual input. We develop the CoPhy…

In this paper, we propose and realize a new deep learning architecture for discovering symbolic representations for objects and their relations based on the self-supervised continuous interaction of a manipulator robot with multiple objects…

Video prediction is a fundamental task for various downstream applications, including robotics and world modeling. Although general video prediction models have achieved remarkable performance in standard scenarios, occlusion is still an…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

Graph Neural Networks leverage the connectivity structure of graphs as an inductive bias. Latent graph inference focuses on learning an adequate graph structure to diffuse information on and improve the downstream performance of the model.…

We present a method to learn compositional multi-object dynamics models from image observations based on implicit object encoders, Neural Radiance Fields (NeRFs), and graph neural networks. NeRFs have become a popular choice for…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

State-space models effectively model multivariate time series by updating over time a representation of the system state from which predictions are made. The state representation is usually a vector without any explicit structure.…

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally…