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

Recent work has shown that object-centric representations can greatly help improve the accuracy of learning dynamics while also bringing interpretability. In this work, we take this idea one step further, ask the following question: "can…

Object-centric representations enable autonomous driving algorithms to reason about interactions between many independent agents and scene features. Traditionally these representations have been obtained via supervised learning, but this…

Object-centric learning (OCL) seeks to learn representations that only encode an object, isolated from other objects or background cues in a scene. This approach underpins various aims, including out-of-distribution (OOD) generalization,…

We add one more invariance - the state invariance - to the more commonly used other invariances for learning object representations for recognition and retrieval. By state invariance, we mean robust with respect to changes in the structural…

There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multi-modal models fail to provide satisfactory results in describing occluded objects through…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

The objective of this paper is self-supervised representation learning, with the goal of solving semi-supervised video object segmentation (a.k.a. dense tracking). We make the following contributions: (i) we propose to improve the existing…

The ability to detect and track objects in the visual world is a crucial skill for any intelligent agent, as it is a necessary precursor to any object-level reasoning process. Moreover, it is important that agents learn to track objects…

Deploying object detection on microcontrollers (MCUs) enables intelligent edge devices but current models cannot learn new object categories after deployment. Existing continual learning methods require storing raw images far exceeding MCU…

Learning object-level, structured representations is widely regarded as a key to better generalization in vision and underpins the design of next-generation Pre-trained Vision Models (PVMs). Mainstream Object-Centric Learning (OCL) methods…

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using…

Learning neural implicit fields of 3D shapes is a rapidly emerging field that enables shape representation at arbitrary resolutions. Due to the flexibility, neural implicit fields have succeeded in many research areas, including shape…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

This paper presents a new self-supervised system for learning to detect novel and previously unseen categories of objects in images. The proposed system receives as input several unlabeled videos of scenes containing various objects. The…

Previous works concerning single-view hand-held object reconstruction typically rely on supervision from 3D ground-truth models, which are hard to collect in real world. In contrast, readily accessible hand-object videos offer a promising…

Language-based object detection (LOD) aims to align visual objects with language expressions. A large amount of paired data is utilized to improve LOD model generalizations. During the training process, recent studies leverage…

Given a single RGB image of a complex outdoor road scene in the perspective view, we address the novel problem of estimating an occlusion-reasoned semantic scene layout in the top-view. This challenging problem not only requires an accurate…

We present a novel approach to weakly supervised object detection. Instead of annotated images, our method only requires two short videos to learn to detect a new object: 1) a video of a moving object and 2) one or more "negative" videos of…

Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural fields or fully explicit geometric primitives. Implicit…

This paper considers the problem of spatiotemporal object-centric reasoning in videos. Central to our approach is the notion of object permanence, i.e., the ability to reason about the location of objects as they move through the video…