相关论文: Learning Object Permanence from Videos via Latent …

The labeled data required to learn pose estimation for articulated objects is difficult to provide in the desired quantity, realism, density, and accuracy. To address this issue, we develop a method to learn representations, which are very…

Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…

Humans can covertly track the position of an object, even if the object is temporarily occluded. What are the neural mechanisms underlying our capacity to track moving objects when there is no physical stimulus for the brain to track? One…

Object-based attention is a key component of the visual system, relevant for perception, learning, and memory. Neurons tuned to features of attended objects tend to be more active than those associated with non-attended objects. There is a…

Learning structured representations of the visual world in terms of objects promises to significantly improve the generalization abilities of current machine learning models. While recent efforts to this end have shown promising empirical…

Geometric variations of objects, which do not modify the object class, pose a major challenge for object recognition. These variations could be rigid as well as non-rigid transformations. In this paper, we design a framework for training…

Object-centric representation learning aims to decompose visual scenes into fixed-size vectors called "slots" or "object files", where each slot captures a distinct object. Current state-of-the-art object-centric models have shown…

Recent deep learning-based video salient object detection (VSOD) has achieved some breakthrough, but these methods rely on expensive annotated videos with pixel-wise annotations, weak annotations, or part of the pixel-wise annotations. In…

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…

This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delivery. Unlike prior imitation learning-based approaches that…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

This paper addresses the problem of automatically localizing dominant objects as spatio-temporal tubes in a noisy collection of videos with minimal or even no supervision. We formulate the problem as a combination of two complementary…

The success of deep neural networks generally requires a vast amount of training data to be labeled, which is expensive and unfeasible in scale, especially for video collections. To alleviate this problem, in this paper, we propose…

Video representation learning has recently attracted attention in computer vision due to its applications for activity and scene forecasting or vision-based planning and control. Video prediction models often learn a latent representation…

Recognizing the states of objects in a video is crucial in understanding the scene beyond actions and objects. For instance, an egg can be raw, cracked, and whisked while cooking an omelet, and these states can coexist simultaneously (an…

Video prediction is a fundamental task for various downstream applications, including robotics and world modeling. Although general video prediction models have achieved remarkable performance in standard scenarios, occlusion is still an…

We introduce a novel latent vector space model that jointly learns the latent representations of words, e-commerce products and a mapping between the two without the need for explicit annotations. The power of the model lies in its ability…

In this thesis we address two related aspects of visual object recognition: the use of motion information, and the use of internal supervision, to help unsupervised learning. These two aspects are inter-related in the current study, since…

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…

Learning an object detector or retrieval requires a large data set with manual annotations. Such data sets are expensive and time consuming to create and therefore difficult to obtain on a large scale. In this work, we propose to exploit…