相关论文: VisorGPT: Learning Visual Prior via Generative Pre…

Concepts involved in long-form videos such as people, objects, and their interactions, can be viewed as following an implicit prior. They are notably complex and continue to pose challenges to be comprehensively learned. In recent years,…

Humans intuitively recognize objects' physical properties and predict their motion, even when the objects are engaged in complicated interactions. The abilities to perform physical reasoning and to adapt to new environments, while intrinsic…

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…

In this work, we introduce Vision-Language Generative Pre-trained Transformer (VL-GPT), a transformer model proficient at concurrently perceiving and generating visual and linguistic data. VL-GPT achieves a unified pre-training approach for…

Throughout the history of computer vision, while research has explored the integration of images (visual) and point clouds (geometric), many advancements in image and 3D object recognition have tended to process these modalities separately.…

This study presents a dynamic neural network model based on the predictive coding framework for perceiving and predicting the dynamic visuo-proprioceptive patterns. In our previous study [1], we have shown that the deep dynamic neural…

The ability to quickly learn from a small quantity oftraining data widens the range of machine learning applications. In this paper, we propose a data-efficient image captioning model, VisualGPT, which leverages the linguistic knowledge…

Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation…

Humans perceive the seemingly chaotic world in a structured and compositional way with the prerequisite of being able to segregate conceptual entities from the complex visual scenes. The mechanism of grouping basic visual elements of scenes…

Inspired by human visual attention, deep neural networks have widely adopted attention mechanisms to learn locally discriminative attributes for challenging visual classification tasks. However, existing approaches primarily emphasize the…

Prompt learning has achieved great success in efficiently exploiting large-scale pre-trained models in natural language processing (NLP). It reformulates the downstream tasks as the generative pre-training ones to achieve consistency, thus…

Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…

Representing scenes at the granularity of objects is a prerequisite for scene understanding and decision making. We propose PriSMONet, a novel approach based on Prior Shape knowledge for learning Multi-Object 3D scene decomposition and…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

Self-supervised representation learning targets to learn convnet-based image representations from unlabeled data. Inspired by the success of NLP methods in this area, in this work we propose a self-supervised approach based on spatially…

Recent Vision-Language Pretrained (VLP) models have become the backbone for many downstream tasks, but they are utilized as frozen model without learning. Prompt learning is a method to improve the pre-trained VLP model by adding a…

When perceiving the world from multiple viewpoints, humans have the ability to reason about the complete objects in a compositional manner even when an object is completely occluded from certain viewpoints. Meanwhile, humans are able to…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

Humans learn powerful representations of objects and scenes by observing how they evolve over time. Yet, outside of specific tasks that require explicit temporal understanding, static image pretraining remains the dominant paradigm for…

Semantic patterns of fine-grained objects are determined by subtle appearance difference of local parts, which thus inspires a number of part-based methods. However, due to uncontrollable object poses in images, distinctive details carried…