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

In this paper, we address the multi-robot collaborative perception problem, specifically in the context of multi-view infilling for distributed semantic segmentation. This setting entails several real-world challenges, especially those…

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…

Masked Image Modeling (MIM) has emerged as a promising method for deriving visual representations from unlabeled image data by predicting missing pixels from masked portions of images. It excels in region-aware learning and provides strong…

Robot manipulation research still suffers from significant data scarcity: even the largest robot datasets are orders of magnitude smaller and less diverse than those that fueled recent breakthroughs in language and vision. We introduce…

Multi-view clustering has attracted increasing attentions recently by utilizing information from multiple views. However, existing multi-view clustering methods are either with high computation and space complexities, or lack of…

Imitation learning is a powerful paradigm for robot skill acquisition. However, obtaining demonstrations suitable for learning a policy that maps from raw pixels to actions can be challenging. In this paper we describe how consumer-grade…

Vision Transformers (ViT) become widely-adopted architectures for various vision tasks. Masked auto-encoding for feature pretraining and multi-scale hybrid convolution-transformer architectures can further unleash the potentials of ViT,…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

Most Neural Radiance Fields (NeRFs) exhibit limited generalization capabilities, which restrict their applicability in representing multiple scenes using a single model. To address this problem, existing generalizable NeRF methods simply…

This paper proposes a method for performing continual learning of predictive models that facilitate the inference of future frames in video sequences. For a first given experience, an initial Variational Autoencoder, together with a set of…

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…

Building scalable models to learn from diverse, multimodal data remains an open challenge. For vision-language data, the dominant approaches are based on contrastive learning objectives that train a separate encoder for each modality. While…

How to learn discriminative video representation from unlabeled videos is challenging but crucial for video analysis. The latest attempts seek to learn a representation model by predicting the appearance contents in the masked regions.…

An important challenge in emotion recognition is to develop methods that can leverage unlabeled training data. In this paper, we propose the VQ-MAE-AV model, a self-supervised multimodal model that leverages masked autoencoders to learn…

Masked autoencoders (MAEs) have emerged recently as art self-supervised spatiotemporal representation learners. Inheriting from the image counterparts, however, existing video MAEs still focus largely on static appearance learning whilst…

Vision-based policies for robot manipulation have achieved significant recent success, but are still brittle to distribution shifts such as camera viewpoint variations. Robot demonstration data is scarce and often lacks appropriate…

The dominant probing approaches rely on the zero-shot performance of image-text matching tasks to gain a finer-grained understanding of the representations learned by recent multimodal image-language transformer models. The evaluation is…

Masked Autoencoder (MAE) has recently been shown to be effective in pre-training Vision Transformers (ViT) for natural image analysis. By reconstructing full images from partially masked inputs, a ViT encoder aggregates contextual…