相关论文: Disentangling What and Where for 3D Object-Centric…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

The visual system processes a scene using a sequence of selective glimpses, each driven by spatial and object-based attention. These glimpses reflect what is relevant to the ongoing task and are selected through recurrent processing and…

The world consists of objects: distinct entities possessing independent properties and dynamics. For agents to interact with the world intelligently, they must translate sensory inputs into the bound-together features that describe each…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

We present an attention-based model for recognizing multiple objects in images. The proposed model is a deep recurrent neural network trained with reinforcement learning to attend to the most relevant regions of the input image. We show…

Active inference is a theory that underpins the way biological agent's perceive and act in the real world. At its core, active inference is based on the principle that the brain is an approximate Bayesian inference engine, building an…

Inspired by the recent advance of image-based object reconstruction using deep learning, we present an active reconstruction model using a guided view planner. We aim to reconstruct a 3D model using images observed from a planned sequence…

High-level shape understanding and technique evaluation on large repositories of 3D shapes often benefit from additional information known about the shapes. One example of such information is the semantic segmentation of a shape into…

The ability to recognize objects despite there being differences in appearance, known as Core Object Recognition, forms a critical part of human perception. While it is understood that the brain accomplishes Core Object Recognition through…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

We present neural architectures that disentangle RGB-D images into objects' shapes and styles and a map of the background scene, and explore their applications for few-shot 3D object detection and few-shot concept classification. Our…

Active learning aims to reduce labeling costs by selecting only the most informative samples on a dataset. Few existing works have addressed active learning for object detection. Most of these methods are based on multiple models or are…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

Object-centric representations have recently enabled significant progress in tackling relational reasoning tasks. By building a strong object-centric inductive bias into neural architectures, recent efforts have improved generalization and…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

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…

With the success of new computational architectures for visual processing, such as convolutional neural networks (CNN) and access to image databases with millions of labeled examples (e.g., ImageNet, Places), the state of the art in…

Attention has long been proposed by psychologists as important for effectively dealing with the enormous sensory stimulus available in the neocortex. Inspired by the visual attention models in computational neuroscience and the need of…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…