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

When encountering novel objects, humans are able to infer a wide range of physical properties such as mass, friction and deformability by interacting with them in a goal driven way. This process of active interaction is in the same spirit…

Much of the remarkable progress in computer vision has been focused around fully supervised learning mechanisms relying on highly curated datasets for a variety of tasks. In contrast, humans often learn about their world with little to no…

Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…

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…

Vision systems that deploy Deep Neural Networks (DNNs) are known to be vulnerable to adversarial examples. Recent research has shown that checking the intrinsic consistencies in the input data is a promising way to detect adversarial…

Passive methods for object detection and segmentation treat images of the same scene as individual samples and do not exploit object permanence across multiple views. Generalization to novel or difficult viewpoints thus requires additional…

To recognize an object in an image, the user must apply a combination of operators, where each operator has a set of parameters. These parameters must be well adjusted in order to reach good results. Usually, this adjustment is made…

In real-world object recognition, there are numerous object classes to be recognized. Conventional image recognition based on supervised learning can only recognize object classes that exist in the training data, and thus has limited…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

The ability of modeling the other agents, such as understanding their intentions and skills, is essential to an agent's interactions with other agents. Conventional agent modeling relies on passive observation from demonstrations. In this…

Learning by observation can be of key importance whenever agents sharing similar features want to learn from each other. This paper presents an agent architecture that enables software agents to learn by direct observation of the actions…

Reinforcement learning (RL) using world models has found significant recent successes. However, when a sudden change to world mechanics or properties occurs then agent performance and reliability can dramatically decline. We refer to the…

We present a reinforcement learning approach for detecting objects within an image. Our approach performs a step-wise deformation of a bounding box with the goal of tightly framing the object. It uses a hierarchical tree-like representation…

The perceived similarity between objects has often been attributed to their physical and conceptual features, such as appearance and animacy, and the theoretical framework of object space is accordingly conceived. Here, we extend this…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

Object detectors are typically trained once and for all on a fixed set of classes. However, this closed-world assumption is unrealistic in practice, as new classes will inevitably emerge after the detector is deployed in the wild. In this…

Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods to achieve high precision. However, they have difficulty…

This paper studies the problem of detecting novel or unexpected instances in text classification. In traditional text classification, the classes appeared in testing must have been seen in training. However, in many applications, this is…

We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…