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

Inspired by the remarkable ability of the infant visual learning system, a recent study collected first-person images from children to analyze the `training data' that they receive. We conduct a follow-up study that investigates two…

Self-supervised learning has emerged as a powerful approach for leveraging large-scale unlabeled data to improve model performance in various domains. In this paper, we explore masked self-supervised pre-training for text recognition…

Transformers have shown significant effectiveness for various vision tasks including both high-level vision and low-level vision. Recently, masked autoencoders (MAE) for feature pre-training have further unleashed the potential of…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

Masked Autoencoders (MAE) have been popular paradigms for large-scale vision representation pre-training. However, MAE solely reconstructs the low-level RGB signals after the decoder and lacks supervision upon high-level semantics for the…

Pretraining general-purpose visual features has become a crucial part of tackling many computer vision tasks. While one can learn such features on the extensively-annotated ImageNet dataset, recent approaches have looked at ways to allow…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

Mask-based pretraining has become a cornerstone of modern large-scale models across language, vision, and recently biology. Despite its empirical success, its role and limits in learning data representations have been unclear. In this work,…

The past year has witnessed a rapid development of masked image modeling (MIM). MIM is mostly built upon the vision transformers, which suggests that self-supervised visual representations can be done by masking input image parts while…

Recent advances in machine learning leverage massive datasets of unlabeled images from the web to learn general-purpose image representations for tasks from image classification to face recognition. But do unsupervised computer vision…

We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a sequence of camera images, proprioceptive robot states, and…

We propose a novel method for learning convolutional neural image representations without manual supervision. We use motion cues in the form of optical flow, to supervise representations of static images. The obvious approach of training a…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Transformer-based architectures have become competitive across a variety of visual domains, most notably images and videos. While prior work studies these modalities in isolation, having a common architecture suggests that one can train a…

In this work, we explore regions as a potential visual analogue of words for self-supervised image representation learning. Inspired by Masked Autoencoding (MAE), a generative pre-training baseline, we propose masked region autoencoding to…

Vision-based learning methods for self-driving cars have primarily used supervised approaches that require a large number of labels for training. However, those labels are usually difficult and expensive to obtain. In this paper, we…

An important challenge in texture recognition is the limited amount of data for training frequently found in real-world applications. In computer vision in general, a successful strategy to mitigate this issue is the use of a pretraining…

Pre-trained contextual vision-and-language (V&L) models have achieved impressive performance on various benchmarks. However, existing models require a large amount of parallel image-caption data for pre-training. Such data are costly to…

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…

Is strong supervision necessary for learning a good visual representation? Do we really need millions of semantically-labeled images to train a Convolutional Neural Network (CNN)? In this paper, we present a simple yet surprisingly powerful…