相关论文: Self-Supervised Pre-Training Boosts Semantic Scene…

Semi-supervised learning is a challenging problem which aims to construct a model by learning from limited labeled examples. Numerous methods for this task focus on utilizing the predictions of unlabeled instances consistency alone to…

Pretraining sentence encoders with language modeling and related unsupervised tasks has recently been shown to be very effective for language understanding tasks. By supplementing language model-style pretraining with further training on…

The goal of semi-supervised learning is to utilize the unlabeled, in-domain dataset U to improve models trained on the labeled dataset D. Under the context of large-scale language-model (LM) pretraining, how we can make the best use of U is…

Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…

Unsupervised learning poses one of the most difficult challenges in computer vision today. The task has an immense practical value with many applications in artificial intelligence and emerging technologies, as large quantities of unlabeled…

Self-training, a semi-supervised learning algorithm, leverages a large amount of unlabeled data to improve learning when the labeled data are limited. Despite empirical successes, its theoretical characterization remains elusive. To the…

Semi-supervised learning has made significant strides in the medical domain since it alleviates the heavy burden of collecting abundant pixel-wise annotated data for semantic segmentation tasks. Existing semi-supervised approaches enhance…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

This work tackles the problem of semi-supervised learning of image classifiers. Our main insight is that the field of semi-supervised learning can benefit from the quickly advancing field of self-supervised visual representation learning.…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Without ground truth supervision, self-supervised depth estimation can be trapped in a local minimum due to the gradient-locality issue of the photometric loss. In this paper, we present a framework to enhance depth by leveraging semantic…

In this paper, we focus on a less explored, but more realistic and complex problem of domain adaptation in LiDAR semantic segmentation. There is a significant drop in performance of an existing segmentation model when training (source…

Self-supervised learning (SSL) has emerged as a promising paradigm for learning flexible speech representations from unlabeled data. By designing pretext tasks that exploit statistical regularities, SSL models can capture useful…

Vision transformers combined with self-supervised learning have enabled the development of models which scale across large datasets for several downstream tasks like classification, segmentation and detection. The low-shot learning…

LiDAR perception is fundamental to robotics, enabling machines to understand their environment in 3D. A crucial task for LiDAR-based scene understanding and navigation is ground segmentation. However, existing methods are either handcrafted…

Existing methods for large-scale point cloud semantic segmentation require expensive, tedious and error-prone manual point-wise annotations. Intuitively, weakly supervised training is a direct solution to reduce the cost of labeling.…

Lane detection has evolved highly functional autonomous driving system to understand driving scenes even under complex environments. In this paper, we work towards developing a generalized computer vision system able to detect lanes without…

We address the challenges of the semi-supervised LiDAR segmentation (SSLS) problem, particularly in low-budget scenarios. The two main issues in low-budget SSLS are the poor-quality pseudo-labels for unlabeled data, and the performance…