相关论文: Visuomotor Control in Multi-Object Scenes Using Ob…

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…

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…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

The recent success in human action recognition with deep learning methods mostly adopt the supervised learning paradigm, which requires significant amount of manually labeled data to achieve good performance. However, label collection is an…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Self-supervised representation learning is able to learn semantically meaningful features; however, much of its recent success relies on multiple crops of an image with very few objects. Instead of learning view-invariant representation…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

With the recent successful adaptation of transformers to the vision domain, particularly when trained in a self-supervised fashion, it has been shown that vision transformers can learn impressive object-reasoning-like behaviour and features…

It is known that representations from self-supervised pre-training can perform on par, and often better, on various downstream tasks than representations from fully-supervised pre-training. This has been shown in a host of settings such as…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Object-centric representations enable autonomous driving algorithms to reason about interactions between many independent agents and scene features. Traditionally these representations have been obtained via supervised learning, but this…

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…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

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…