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

Recent work has shown that object-centric representations can greatly help improve the accuracy of learning dynamics while also bringing interpretability. In this work, we take this idea one step further, ask the following question: "can…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

Self-supervised learning of image representations by predicting future frames is a promising direction but still remains a challenge. This is because of the under-determined nature of frame prediction; multiple potential futures can arise…

Recent years have seen the emergence of pre-trained representations as a powerful abstraction for AI applications in computer vision, natural language, and speech. However, policy learning for control is still dominated by a tabula-rasa…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

The choice of representation plays a key role in self-driving. Bird's eye view (BEV) representations have shown remarkable performance in recent years. In this paper, we propose to learn object-centric representations in BEV to distill a…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

Learning an egocentric action recognition model from video data is challenging due to distractors (e.g., irrelevant objects) in the background. Further integrating object information into an action model is hence beneficial. Existing…

Deep learning has raised hopes and expectations as a general solution for many applications; indeed it has proven effective, but it also showed a strong dependence on large quantities of data. Luckily, it has been shown that, even when data…

At the core of self-supervised learning for vision is the idea of learning invariant or equivariant representations with respect to a set of data transformations. This approach, however, introduces strong inductive biases, which can render…

A common practice in unsupervised representation learning is to use labeled data to evaluate the quality of the learned representations. This supervised evaluation is then used to guide critical aspects of the training process such as…

This paper addresses key challenges in object-centric representation learning of video. While existing approaches struggle with complex scenes, we propose a novel weakly-supervised framework that emphasises geometric understanding and…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

We propose a framework to continuously learn object-centric representations for visual learning and understanding. Existing object-centric representations either rely on supervisions that individualize objects in the scene, or perform…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

We demonstrate model-based, visual robot manipulation of linear deformable objects. Our approach is based on a state-space representation of the physical system that the robot aims to control. This choice has multiple advantages, including…

Cognitive science suggests that the self-representation is critical for learning and problem-solving. However, there is a lack of computational methods that relate this claim to cognitively plausible robots and reinforcement learning. In…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Large offline learning-based models have enabled robots to successfully interact with objects for a wide variety of tasks. However, these models rely on fairly consistent structured environments. For more unstructured environments, an…