相关论文: Self-Supervised Learning of Visual Robot Localizat…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Through solving pretext tasks, self-supervised learning leverages unlabeled data to extract useful latent representations replacing traditional input features in the downstream task. In audio/speech signal processing, a wide range of…

We propose an approach for mapping natural language instructions and raw observations to continuous control of a quadcopter drone. Our model predicts interpretable position-visitation distributions indicating where the agent should go…

Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a…

Self-supervised representation learning targets to learn convnet-based image representations from unlabeled data. Inspired by the success of NLP methods in this area, in this work we propose a self-supervised approach based on spatially…

Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…

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…

In this paper, we present an approach for learning a visual representation from the raw spatiotemporal signals in videos. Our representation is learned without supervision from semantic labels. We formulate our method as an unsupervised…

In self-supervised learning, one trains a model to solve a so-called pretext task on a dataset without the need for human annotation. The main objective, however, is to transfer this model to a target domain and task. Currently, the most…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

Multimodal large language models (MLLMs) perform well on many vision-language tasks but often struggle with vision-centric problems that require fine-grained visual reasoning. Recent evidence suggests that this limitation arises not from…

Orientation estimation is the core to a variety of vision and robotics tasks such as camera and object pose estimation. Deep learning has offered a way to develop image-based orientation estimators; however, such estimators often require…

With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern…

In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

While image-text representation learning has become very popular in recent years, existing models tend to lack spatial awareness and have limited direct applicability for dense understanding tasks. For this reason, self-supervised…

While modern visual recognition systems have made significant advancements, many continue to struggle with the open problem of learning from few exemplars. This paper focuses on the task of object detection in the setting where object…

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…

Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback,…