相关论文: Revisiting Feature Prediction for Learning Visual …

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…

Scene graph prediction --- classifying the set of objects and predicates in a visual scene --- requires substantial training data. However, most predicates only occur a handful of times making them difficult to learn. We introduce the first…

The de-facto approach to many vision tasks is to start from pretrained visual representations, typically learned via supervised training on ImageNet. Recent methods have explored unsupervised pretraining to scale to vast quantities of…

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…

We present a novel approach to estimating physical properties of objects from video. Our approach consists of a physics engine and a correction estimator. Starting from the initial observed state, object behavior is simulated forward in…

Forecasting future events is a fundamental capability for general-purpose systems that plan or act across different levels of abstraction. Yet, evaluating whether a forecast is "correct" remains challenging due to the inherent uncertainty…

State-of-the-art computer vision systems are trained to predict a fixed set of predetermined object categories. This restricted form of supervision limits their generality and usability since additional labeled data is needed to specify any…

Unsupervised object-centric learning aims to represent the modular, compositional, and causal structure of a scene as a set of object representations and thereby promises to resolve many critical limitations of traditional single-vector…

We study unsupervised video representation learning that seeks to learn both motion and appearance features from unlabeled video only, which can be reused for downstream tasks such as action recognition. This task, however, is extremely…

Self-supervised learning has become increasingly important to leverage the abundance of unlabeled data available on platforms like YouTube. Whereas most existing approaches learn low-level representations, we propose a joint…

Understanding and predicting video content is essential for planning and reasoning in dynamic environments. Despite advancements, unsupervised learning of object representations and dynamics remains challenging. We present VideoPCDNet, an…

In this work, we demonstrate that 3D poses in video can be effectively estimated with a fully convolutional model based on dilated temporal convolutions over 2D keypoints. We also introduce back-projection, a simple and effective…

Self-supervised learning has seen great success recently in unsupervised representation learning, enabling breakthroughs in natural language and image processing. However, these methods often rely on autoregressive and masked modeling,…

In self-supervised learning, a model is trained to solve a pretext task, using a data set whose annotations are created by a machine. The objective is to transfer the trained weights to perform a downstream task in the target domain. We…

The recent breakthroughs in natural language processing for model pretraining on large quantities of data have opened the way for similar foundation models in computer vision. These models could greatly simplify the use of images in any…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

We introduce a framework that predicts the goals behind observable human action in video. Motivated by evidence in developmental psychology, we leverage video of unintentional action to learn video representations of goals without direct…

Human actions are comprised of a sequence of poses. This makes videos of humans a rich and dense source of human poses. We propose an unsupervised method to learn pose features from videos that exploits a signal which is complementary to…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…