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

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

Self-supervised representation learning has achieved remarkable success in recent years. By subverting the need for supervised labels, such approaches are able to utilize the numerous unlabeled images that exist on the Internet and in…

Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such representations often entangle task-relevant and irrelevant…

Unsupervised representation learning methods like SwAV are proved to be effective in learning visual semantics of a target dataset. The main idea behind these methods is that different views of a same image represent the same semantics. In…

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…

When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…

The advancement of visual tracking has continuously been brought by deep learning models. Typically, supervised learning is employed to train these models with expensive labeled data. In order to reduce the workload of manual annotations…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

The supervised learning paradigm is limited by the cost - and sometimes the impracticality - of data collection and labeling in multiple domains. Self-supervised learning, a paradigm which exploits the structure of unlabeled data to create…

Self-supervised feature learning enables perception systems to benefit from the vast raw data recorded by vehicle fleets worldwide. While video-level self-supervised learning approaches have shown strong generalizability on classification…

Object-centric representation learning aims to decompose visual scenes into fixed-size vectors called "slots" or "object files", where each slot captures a distinct object. Current state-of-the-art object-centric models have shown…

The dominant paradigm for feature learning in computer vision relies on training neural networks for the task of object recognition using millions of hand labelled images. Is it possible to learn useful features for a diverse set of visual…

Self-supervised learning is an effective way for label-free model pre-training, especially in the video domain where labeling is expensive. Existing self-supervised works in the video domain use varying experimental setups to demonstrate…

The idea behind object-centric representation learning is that natural scenes can better be modeled as compositions of objects and their relations as opposed to distributed representations. This inductive bias can be injected into neural…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…