相关论文: Exploiting Embodied Simulation to Detect Novel Obj…

We present a novel learning method for word embeddings designed for relation classification. Our word embeddings are trained by predicting words between noun pairs using lexical relation-specific features on a large unlabeled corpus. This…

Humans can quickly learn new behaviors by leveraging background world knowledge. In contrast, agents trained with reinforcement learning (RL) typically learn behaviors from scratch. We thus propose a novel approach that uses the vast…

For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object's affordances, which…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

We propose a new method for training an agent via an evolutionary strategy (ES), in which we iteratively improve a set of samples to imitate: Starting with a random set, in every iteration we replace a subset of the samples with samples…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

We study the problem of answering questions about images in the harder setting, where the test questions and corresponding images contain novel objects, which were not queried about in the training data. Such setting is inevitable in real…

Embodied navigation methods commonly operate in static environments with stationary objects. In this work, we present approaches for tackling navigation in dynamic scenarios with non-stationary targets. In an indoor environment, we assume…

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…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to replicate some of these abilities with a neural network that…

Novelty detection, i.e., identifying whether a given sample is drawn from outside the training distribution, is essential for reliable machine learning. To this end, there have been many attempts at learning a representation well-suited for…

Learning automatically the structure of object categories remains an important open problem in computer vision. In this paper, we propose a novel unsupervised approach that can discover and learn landmarks in object categories, thus…

We address the problem of inferring self-supervised dense semantic correspondences between objects in multi-object scenes. The method introduces learning of class-aware dense object descriptors by providing either unsupervised discrete…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…

Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of…

To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…

Systems of interacting objects often evolve under the influence of field effects that govern their dynamics, yet previous works have abstracted away from such effects, and assume that systems evolve in a vacuum. In this work, we focus on…

Deep learning methods have typically been trained on large datasets in which many training examples are available. However, many real-world product datasets have only a small number of images available for each product. We explore the use…

Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…

Team adaptation to new cooperative tasks is a hallmark of human intelligence, which has yet to be fully realized in learning agents. Previous work on multi-agent transfer learning accommodate teams of different sizes, heavily relying on the…