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In this work we introduce a new self-supervised, semi-parametric approach for synthesizing novel views of a vehicle starting from a single monocular image. Differently from parametric (i.e. entirely learning-based) methods, we show how…

A prior represents a set of beliefs or assumptions about a system, aiding inference and decision-making. In this paper, we introduce the challenge of unsupervised categorical prior learning in pose estimation, where AI models learn a…

Due to a lack of image-based "part controllers", shape manipulation of man-made shape images, such as resizing the backrest of a chair or replacing a cup handle is not intuitive. To tackle this problem, we present StylePart, a framework…

We present an approach for building an active agent that learns to segment its visual observations into individual objects by interacting with its environment in a completely self-supervised manner. The agent uses its current segmentation…

We tackle the problem of monocular 3D reconstruction of articulated objects like humans and animals. We contribute DensePose 3D, a method that can learn such reconstructions in a weakly supervised fashion from 2D image annotations only.…

One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

Adversarial attacks can easily fool object recognition systems based on deep neural networks (DNNs). Although many defense methods have been proposed in recent years, most of them can still be adaptively evaded. One reason for the weak…

We propose an adversarial contextual model for detecting moving objects in images. A deep neural network is trained to predict the optical flow in a region using information from everywhere else but that region (context), while another…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…

Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

Partial-view 3D recognition -- reconstructing 3D geometry and identifying object instances from a few sparse RGB images -- is an exceptionally challenging yet practically essential task, particularly in cluttered, occluded real-world…

To learn object models for robotic manipulation, unsupervised methods cannot provide accurate object structural information and supervised methods require a large amount of manually labeled training samples, thus interactive object…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Inferring full-body poses from Head Mounted Devices, which capture only 3-joint observations from the head and wrists, is a challenging task with wide AR/VR applications. Previous attempts focus on learning one-stage motion mapping and thus…

Learning how to model complex scenes in a modular way with recombinable components is a pre-requisite for higher-order reasoning and acting in the physical world. However, current generative models lack the ability to capture the inherently…