相关论文: Scaling may be all you need for achieving human-le…

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and…

Humans develop visual intelligence through perceiving and interacting with their environment - a self-supervised learning process grounded in egocentric experience. Inspired by this, we ask how can artificial systems learn stable object…

For a considerable time, deep convolutional neural networks (DCNNs) have reached human benchmark performance in object recognition. On that account, computational neuroscience and the field of machine learning have started to attribute…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Vision foundation models trained with self-supervised objectives achieve strong performance across diverse tasks and exhibit emergent object segmentation properties. However, their alignment with human object perception remains poorly…

Advances in object recognition flourished in part because of the availability of high-quality datasets and associated benchmarks. However, these benchmarks---such as ILSVRC---are relatively task-specific, focusing predominately on…

We witnessed a massive growth in the supervised learning paradigm in the past decade. Supervised learning requires a large amount of labeled data to reach state-of-the-art performance. However, labeling the samples requires a lot of human…

Visual grounding tasks aim to localize image regions based on natural language references. In this work, we explore whether generative VLMs predominantly trained on image-text data could be leveraged to scale up the text annotation of…

Humans perform visual perception at multiple levels, including low-level object recognition and high-level semantic interpretation such as behavior understanding. Subtle differences in low-level details can lead to substantial changes in…

Recently, self-supervised learning methods like MoCo, SimCLR, BYOL and SwAV have reduced the gap with supervised methods. These results have been achieved in a control environment, that is the highly curated ImageNet dataset. However, the…

Recent advances in language modeling have witnessed the rise of highly desirable emergent capabilities, such as reasoning and in-context learning. However, vision models have yet to exhibit comparable progress in these areas. In this paper,…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

Vision Transformers (ViT) is known for its scalability. In this work, we target to scale down a ViT to fit in an environment with dynamic-changing resource constraints. We observe that smaller ViTs are intrinsically the sub-networks of a…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Visual Self-Supervised Learning (SSL) currently underperforms Contrastive Language-Image Pretraining (CLIP) in multimodal settings such as Visual Question Answering (VQA). This multimodal gap is often attributed to the semantics introduced…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…

Visual saliency models have enjoyed a big leap in performance in recent years, thanks to advances in deep learning and large scale annotated data. Despite enormous effort and huge breakthroughs, however, models still fall short in reaching…

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…

Visual translation tolerance refers to our capacity to recognize objects over a wide range of different retinal locations. Although translation is perhaps the simplest spatial transform that the visual system needs to cope with, the extent…