相关论文: Generalizable Imitation Learning Through Pre-Train…

Given a collection of images, humans are able to discover landmarks by modeling the shared geometric structure across instances. This idea of geometric equivariance has been widely used for the unsupervised discovery of object landmark…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

One of the primary challenges faced by deep learning is the degree to which current methods exploit superficial statistics and dataset bias, rather than learning to generalise over the specific representations they have experienced. This is…

Transformers with powerful global relation modeling abilities have been introduced to fundamental computer vision tasks recently. As a typical example, the Vision Transformer (ViT) directly applies a pure transformer architecture on image…

In this paper we propose augmenting Vision Transformer models with learnable memory tokens. Our approach allows the model to adapt to new tasks, using few parameters, while optionally preserving its capabilities on previously learned tasks.…

We address the question of characterizing and finding optimal representations for supervised learning. Traditionally, this question has been tackled using the Information Bottleneck, which compresses the inputs while retaining information…

Representation learning promises to unlock deep learning for the long tail of vision tasks without expensive labelled datasets. Yet, the absence of a unified evaluation for general visual representations hinders progress. Popular protocols…

The growing use of virtual autonomous agents in applications like games and entertainment demands better control policies for natural-looking movements and actions. Unlike the conventional approach of hard-coding motion routines, we propose…

While the general idea of self-supervised learning is identical across modalities, the actual algorithms and objectives differ widely because they were developed with a single modality in mind. To get us closer to general self-supervised…

The past year has witnessed a rapid development of masked image modeling (MIM). MIM is mostly built upon the vision transformers, which suggests that self-supervised visual representations can be done by masking input image parts while…

The increasing impact of black box models, and particularly of unsupervised ones, comes with an increasing interest in tools to understand and interpret them. In this paper, we consider in particular how to characterise visual groupings…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…

Recently, we have witnessed the great success of the generalist model in natural language processing. The generalist model is a general framework trained with massive data and is able to process various downstream tasks simultaneously.…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

In this paper we present a novel unsupervised representation learning approach for 3D shapes, which is an important research challenge as it avoids the manual effort required for collecting supervised data. Our method trains an RNN-based…

The field of self-supervised 3D representation learning has emerged as a promising solution to alleviate the challenge presented by the scarcity of extensive, well-annotated datasets. However, it continues to be hindered by the lack of…

Generalizing a pretrained model to unseen datasets without retraining is an essential step toward a foundation model. However, achieving such cross-dataset, fully inductive inference is difficult in graph-structured data where feature…

Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…

Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…

The success of machine learning algorithms generally depends on data representation, and we hypothesize that this is because different representations can entangle and hide more or less the different explanatory factors of variation behind…