相关论文: Self-Supervised Learning from Non-Object Centric I…

Unsupervised object-centric learning aims to decompose scenes into interpretable object entities, termed slots. Slot-based auto-encoders stand out as a prominent method for this task. Within them, crucial aspects include guiding the encoder…

The problem of identifying geometric structure in data is a cornerstone of (unsupervised) learning. As a result, Geometric Representation Learning has been widely applied across scientific and engineering domains. In this work, we…

In this work, we propose a novel methodology for self-supervised learning for generating global and local attention-aware visual features. Our approach is based on training a model to differentiate between specific image transformations of…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Transformers are powerful visual learners, in large part due to their conspicuous lack of manually-specified priors. This flexibility can be problematic in tasks that involve multiple-view geometry, due to the near-infinite possible…

Non-local operations are usually used to capture long-range dependencies via aggregating global context to each position recently. However, most of the methods cannot preserve object shapes since they only focus on feature similarity but…

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…

Learning dense correspondences across deformable 3D shapes remains a long-standing challenge due to structural variability, non-isometric deformation, and inconsistent topology. Existing methods typically trade off generalization, geometric…

Finding semantic correspondences is a challenging problem. With the breakthrough of CNNs stronger features are available for tasks like classification but not specifically for the requirements of semantic matching. In the following we…

Convolutional neural networks (CNNs) have achieved state-of-the-art results on many visual recognition tasks. However, current CNN models still exhibit a poor ability to be invariant to spatial transformations of images. Intuitively, with…

We consider the use of deep learning for covariance estimation. We propose to globally learn a neural network that will then be applied locally at inference time. Leveraging recent advancements in self-supervised foundational models, we…

Recently, self-supervised vision transformers have attracted unprecedented attention for their impressive representation learning ability. However, the dominant method, contrastive learning, mainly relies on an instance discrimination…

Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

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 present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…

Self-supervised representation learning is able to learn semantically meaningful features; however, much of its recent success relies on multiple crops of an image with very few objects. Instead of learning view-invariant representation…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

Hypergraphs play a pivotal role in the modelling of data featuring higher-order relations involving more than two entities. Hypergraph neural networks emerge as a powerful tool for processing hypergraph-structured data, delivering…

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…