相关论文: Self-supervised video pretraining yields robust an…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Natural videos provide rich visual contents for self-supervised learning. Yet most existing approaches for learning spatio-temporal representations rely on manually trimmed videos, leading to limited diversity in visual patterns and limited…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

The recent breakthroughs in natural language processing for model pretraining on large quantities of data have opened the way for similar foundation models in computer vision. These models could greatly simplify the use of images in any…

We address the problem of video representation learning without human-annotated labels. While previous efforts address the problem by designing novel self-supervised tasks using video data, the learned features are merely on a…

Videos are a rich source for self-supervised learning (SSL) of visual representations due to the presence of natural temporal transformations of objects. However, current methods typically randomly sample video clips for learning, which…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

We empirically study autoregressive pre-training from videos. To perform our study, we construct a series of autoregressive video models, called Toto. We treat videos as sequences of visual tokens and train transformer models to…

We develop an approach to learning visual representations that embraces multimodal data, driven by a combination of intra- and inter-modal similarity preservation objectives. Unlike existing visual pre-training methods, which solve a proxy…

Reward and representation learning are two long-standing challenges for learning an expanding set of robot manipulation skills from sensory observations. Given the inherent cost and scarcity of in-domain, task-specific robot data, learning…

Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…

We propose a self-supervised visual learning method by predicting the variable playback speeds of a video. Without semantic labels, we learn the spatio-temporal visual representation of the video by leveraging the variations in the visual…

Visual tempo, which describes how fast an action goes, has shown its potential in supervised action recognition. In this work, we demonstrate that visual tempo can also serve as a self-supervision signal for video representation learning.…

This paper addresses the problem of self-supervised video representation learning from a new perspective -- by video pace prediction. It stems from the observation that human visual system is sensitive to video pace, e.g., slow motion, a…

We propose a self-supervised method for learning motion-focused video representations. Existing approaches minimize distances between temporally augmented videos, which maintain high spatial similarity. We instead propose to learn…

Human perception and understanding is a major domain of computer vision which, like many other vision subdomains recently, stands to gain from the use of large models pre-trained on large datasets. We hypothesize that the most common…

We aim to investigate whether end-to-end learning of visual reasoning can be achieved with general-purpose neural networks, with the help of visual pretraining. A positive result would refute the common belief that explicit visual…

The remarkable success of deep learning in various domains relies on the availability of large-scale annotated datasets. However, obtaining annotations is expensive and requires great effort, which is especially challenging for videos.…

This paper does not describe a novel method. Instead, it studies a straightforward, incremental, yet must-know baseline given the recent progress in computer vision: self-supervised learning for Vision Transformers (ViT). While the training…