相关论文: Multi-View Masked World Models for Visual Robotic …

3D object representation learning is a fundamental challenge in computer vision to infer about the 3D world. Recent advances in deep learning have shown their efficiency in 3D object recognition, among which view-based methods have…

Learning generalizable robotic manipulation policies remains a key challenge due to the scarcity of diverse real-world training data. While recent approaches have attempted to mitigate this through self-supervised representation learning,…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

Embodied world models aim to predict and interact with the physical world through visual observations and actions. However, existing models struggle to accurately translate low-level actions (e.g., joint positions) into precise robotic…

Masked autoencoder (MAE) is a promising self-supervised pre-training technique that can improve the representation learning of a neural network without human intervention. However, applying MAE directly to volumetric medical images poses…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

A key objective in multi-view learning is to model the information common to multiple parallel views of a class of objects/events to improve downstream learning tasks. In this context, two open research questions remain: How can we model…

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…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Learning high-quality video representation has shown significant applications in computer vision and remains challenging. Previous work based on mask autoencoders such as ImageMAE and VideoMAE has proven the effectiveness of learning…

In this paper, we study how to use masked signal modeling in vision and language (V+L) representation learning. Instead of developing masked language modeling (MLM) and masked image modeling (MIM) independently, we propose to build joint…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

We propose an approach to self-supervised representation learning based on maximizing mutual information between features extracted from multiple views of a shared context. For example, one could produce multiple views of a local…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…

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…

Current machine learning models for vision are often highly specialized and limited to a single modality and task. In contrast, recent large language models exhibit a wide range of capabilities, hinting at a possibility for similarly…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Masked image modeling (MIM) has become a leading self-supervised learning strategy. MIMs such as Masked Autoencoder (MAE) learn strong representations by randomly masking input tokens for the encoder to process, with the decoder…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Existing multi-view representation learning methods typically follow a specific-to-uniform pipeline, extracting latent features from each view and then fusing or aligning them to obtain the unified object representation. However, the…