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

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

Multi-label Learning on Image data has been widely exploited with deep learning models. However, supervised training on deep CNN models often cannot discover sufficient discriminative features for classification. As a result, numerous…

Large offline learning-based models have enabled robots to successfully interact with objects for a wide variety of tasks. However, these models rely on fairly consistent structured environments. For more unstructured environments, an…

We present a unified framework for understanding 3D hand and object interactions in raw image sequences from egocentric RGB cameras. Given a single RGB image, our model jointly estimates the 3D hand and object poses, models their…

In existing works that learn representation for object detection, the relationship between a candidate window and the ground truth bounding box of an object is simplified by thresholding their overlap. This paper shows information loss in…

Compositional generalization, the ability to reason about novel combinations of familiar concepts, is fundamental to human cognition and a critical challenge for machine learning. Object-centric (OC) representations, which encode a scene as…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of…

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…

We study inferring 3D object-centric scene representations from a single image. While recent methods have shown potential in unsupervised 3D object discovery from simple synthetic images, they fail to generalize to real-world scenes with…

Contrastive self-supervised learning has shown impressive results in learning visual representations from unlabeled images by enforcing invariance against different data augmentations. However, the learned representations are often…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

We present a generative model of images that explicitly reasons over the set of objects they show. Our model learns a structured latent representation that separates objects from each other and from the background; unlike prior works, it…

While supervised object detection methods achieve impressive accuracy, they generalize poorly to images whose appearance significantly differs from the data they have been trained on. To address this in scenarios where annotating data is…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

We present an unsupervised framework for simultaneous appearance-based object discovery, detection, tracking and reconstruction using RGBD cameras and a robot manipulator. The system performs dense 3D simultaneous localization and mapping…

Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training…

Nowadays, plenty of deep learning technologies are being applied to all aspects of autonomous driving with promising results. Among them, object detection is the key to improve the ability of an autonomous agent to perceive its environment…

Object segmentation in infant's egocentric videos is a fundamental step in studying how children perceive objects in early stages of development. From the computer vision perspective, object segmentation in such videos pose quite a few…