相关论文: Linking vision and motion for self-supervised obje…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

With the recent successful adaptation of transformers to the vision domain, particularly when trained in a self-supervised fashion, it has been shown that vision transformers can learn impressive object-reasoning-like behaviour and features…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Self-supervision allows learning meaningful representations of natural images, which usually contain one central object. How well does it transfer to multi-entity scenes? We discuss key aspects of learning structured object-centric…

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…

Unsupervised video-based object-centric learning is a promising avenue to learn structured representations from large, unlabeled video collections, but previous approaches have only managed to scale to real-world datasets in restricted…

Learning an egocentric action recognition model from video data is challenging due to distractors (e.g., irrelevant objects) in the background. Further integrating object information into an action model is hence beneficial. Existing…

We propose a self-supervised approach for learning representations of objects from monocular videos and demonstrate it is particularly useful in situated settings such as robotics. The main contributions of this paper are: 1) a…

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…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Animals have evolved highly functional visual systems to understand motion, assisting perception even under complex environments. In this paper, we work towards developing a computer vision system able to segment objects by exploiting…

Research in child development has shown that embodied experience handling physical objects contributes to many cognitive abilities, including visual learning. One characteristic of such experience is that the learner sees the same object…

Robust detection of moving vehicles is a critical task for any autonomously operating outdoor robot or self-driving vehicle. Most modern approaches for solving this task rely on training image-based detectors using large-scale vehicle…

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…