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

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

Current self-supervised learning algorithms are often modality-specific and require large amounts of computational resources. To address these issues, we increase the training efficiency of data2vec, a learning objective that generalizes…

Deep neural networks have become increasingly successful at solving classic perception problems such as object recognition, semantic segmentation, and scene understanding, often reaching or surpassing human-level accuracy. This success is…

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…

Human vision possesses a special type of visual processing systems called peripheral vision. Partitioning the entire visual field into multiple contour regions based on the distance to the center of our gaze, the peripheral vision provides…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

Self-supervised approaches for video have shown impressive results in video understanding tasks. However, unlike early works that leverage temporal self-supervision, current state-of-the-art methods primarily rely on tasks from the image…

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic,…

Recent significant advances in text-to-image models unlock the possibility of training vision systems using synthetic images, potentially overcoming the difficulty of collecting curated data at scale. It is unclear, however, how these…

The widespread use of deep neural networks has achieved substantial success in many tasks. However, there still exists a huge gap between the operating mechanism of deep learning models and human-understandable decision making, so that…

Though tremendous strides have been made in object recognition, one of the remaining open challenges is detecting small objects. We explore three aspects of the problem in the context of finding small faces: the role of scale invariance,…

The scale and diversity of demonstration data required for imitation learning is a significant challenge. We present EgoMimic, a full-stack framework which scales manipulation via human embodiment data, specifically egocentric human videos…

Video coding has traditionally been developed to support services such as video streaming, videoconferencing, digital TV, and so on. The main intent was to enable human viewing of the encoded content. However, with the advances in deep…

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…

Providing ground truth supervision to train visual models has been a bottleneck over the years, exacerbated by domain shifts which degenerate the performance of such models. This was the case when visual tasks relied on handcrafted features…

Data scaling has revolutionized fields like natural language processing and computer vision, providing models with remarkable generalization capabilities. In this paper, we investigate whether similar data scaling laws exist in robotics,…

The long-term goal of machine learning is to learn general visual representations from a small amount of data without supervision, mimicking three advantages of human cognition: i) no need for labels, ii) robustness to data scarcity, and…

Many models of visual attention have been proposed so far. Traditional bottom-up models, like saliency models, fail to replicate human gaze patterns, and deep gaze prediction models lack biological plausibility due to their reliance on…

A first-person camera, placed at a person's head, captures, which objects are important to the camera wearer. Most prior methods for this task learn to detect such important objects from the manually labeled first-person data in a…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…