相关论文: Binding Actions to Objects in World Models

We show that for human-object interaction detection a relatively simple factorized model with appearance and layout encodings constructed from pre-trained object detectors outperforms more sophisticated approaches. Our model includes…

In this work, we address a challenging problem of fine-grained and coarse-grained recognition of object manipulation actions. Due to the variations in geometrical and motion constraints, there are different manipulations actions possible to…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

A major challenge for Multi-Agent Systems is enabling agents to adapt dynamically to diverse environments in which opponents and teammates may continually change. Agents trained using conventional methods tend to excel only within the…

We investigate a human-like interpretable model of video understanding. Humans recognise complex activities in video by recognising critical spatio-temporal relations among explicitly recognised objects and parts, for example, an object…

Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is attention focus -- the robot learns where to attend its sensors…

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

Auto-regressive sequence-to-sequence models with attention mechanism have achieved state-of-the-art performance in many tasks such as machine translation and speech synthesis. These models can be difficult to train. The standard approach,…

Contrastive learning has proven instrumental in learning unbiased representations of data, especially in complex environments characterized by high-cardinality and high-dimensional sensitive information. However, existing approaches within…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Transformers are built upon multi-head scaled dot-product attention and positional encoding, which aim to learn the feature representations and token dependencies. In this work, we focus on enhancing the distinctive representation by…

To understand the visual world, a machine must not only recognize individual object instances but also how they interact. Humans are often at the center of such interactions and detecting human-object interactions is an important practical…

The task in referring expression comprehension is to localise the object instance in an image described by a referring expression phrased in natural language. As a language-to-vision matching task, the key to this problem is to learn a…

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

Active learning approaches in computer vision generally involve querying strong labels for data. However, previous works have shown that weak supervision can be effective in training models for vision tasks while greatly reducing annotation…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

We propose a novel attention mechanism, named Cog Attention, that enables attention weights to be negative for enhanced expressiveness, which stems from two key factors: (1) Cog Attention enhances parameter flexibility. For example, unlike…

Transformers have recently been utilized to perform object detection and tracking in the context of autonomous driving. One unique characteristic of these models is that attention weights are computed in each forward pass, giving insights…