相关论文: SORNet: Spatial Object-Centric Representations for…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large…

Object-centric representation (OCR) has recently become a subject of interest in the computer vision community for learning a structured representation of images and videos. It has been several times presented as a potential way to improve…

In numerous contexts, high-resolution solutions to partial differential equations are required to capture faithfully essential dynamics which occur at small spatiotemporal scales, but these solutions can be very difficult and slow to obtain…

Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real…

Object-centric representation is an essential abstraction for forward prediction. Most existing forward models learn this representation through extensive supervision (e.g., object class and bounding box) although such ground-truth…

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with large-scale real-world data collection, robust perception…

In this paper, we propose using deep neural architectures (i.e., vision transformers and ResNet) as heuristics for sequential decision-making in robotic manipulation problems. This formulation enables predicting the subset of objects that…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Spatiotemporal feature learning in videos is a fundamental problem in computer vision. This paper presents a new architecture, termed as Appearance-and-Relation Network (ARTNet), to learn video representation in an end-to-end manner.…

Although large-scale labeled data are essential for deep convolutional neural networks (ConvNets) to learn high-level semantic visual representations, it is time-consuming and impractical to collect and annotate large-scale datasets. A…

Achieving visual reasoning is a long-term goal of artificial intelligence. In the last decade, several studies have applied deep neural networks (DNNs) to the task of learning visual relations from images, with modest results in terms of…

Large offline learning-based models have enabled robots to successfully interact with objects for a wide variety of tasks. However, these models rely on fairly consistent structured environments. For more unstructured environments, an…

Learning object-centric representations of complex scenes is a promising step towards enabling efficient abstract reasoning from low-level perceptual features. Yet, most deep learning approaches learn distributed representations that do not…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Leveraging class semantic descriptions and examples of known objects, zero-shot learning makes it possible to train a recognition model for an object class whose examples are not available. In this paper, we propose a novel zero-shot…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…