相关论文: Masked Visual Pre-training for Motor Control

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…

We present an extension to masked autoencoders (MAE) which improves on the representations learnt by the model by explicitly encouraging the learning of higher scene-level features. We do this by: (i) the introduction of a perceptual…

Deep predictive coding networks are neuroscience-inspired unsupervised learning models that learn to predict future sensory states. We build upon the PredNet implementation by Lotter, Kreiman, and Cox (2016) to investigate if predictive…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Pre-training models on large scale datasets, like ImageNet, is a standard practice in computer vision. This paradigm is especially effective for tasks with small training sets, for which high-capacity models tend to overfit. In this work,…

State-of-the-art computer vision systems are trained to predict a fixed set of predetermined object categories. This restricted form of supervision limits their generality and usability since additional labeled data is needed to specify any…

We introduce an unsupervised feature learning approach that embeds 3D shape information into a single-view image representation. The main idea is a self-supervised training objective that, given only a single 2D image, requires all unseen…

Learning visual representations through self-supervision is an extremely challenging task as the network needs to sieve relevant patterns from spurious distractors without the active guidance provided by supervision. This is achieved…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Collecting and automatically obtaining reward signals from real robotic visual data for the purposes of training reinforcement learning algorithms can be quite challenging and time-consuming. Methods for utilizing unlabeled data can have a…

The study of object representations in computer vision has primarily focused on developing representations that are useful for image classification, object detection, or semantic segmentation as downstream tasks. In this work we aim to…

In this work, we study different approaches to self-supervised pretraining of object detection models. We first design a general framework to learn a spatially consistent dense representation from an image, by randomly sampling and…

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…

Pre-training Reinforcement Learning agents in a task-agnostic manner has shown promising results. However, previous works still struggle in learning and discovering meaningful skills in high-dimensional state-spaces, such as pixel-spaces.…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

We propose Masked Capsule Autoencoders (MCAE), the first Capsule Network that utilises pretraining in a modern self-supervised paradigm, specifically the masked image modelling framework. Capsule Networks have emerged as a powerful…

Vision (image and video) - Language (VL) pre-training is the recent popular paradigm that achieved state-of-the-art results on multi-modal tasks like image-retrieval, video-retrieval, visual question answering etc. These models are trained…

Self-supervised learning aims to learn representations from the data itself without explicit manual supervision. Existing efforts ignore a crucial aspect of self-supervised learning - the ability to scale to large amount of data because…