相关论文: Composing Pre-Trained Object-Centric Representatio…

We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructions. Previous works based on rule-based language parsing or…

This paper focuses on building object-centric representations for long-term action anticipation in videos. Our key motivation is that objects provide important cues to recognize and predict human-object interactions, especially when the…

Object-centric representation learning has recently been successfully applied to real-world datasets. This success can be attributed to pretrained non-object-centric foundation models, whose features serve as reconstruction targets for slot…

Many machine learning models have been built to tackle information overload issues on Massive Open Online Courses (MOOC) platforms. These models rely on learning powerful representations of MOOC entities. However, they suffer from the…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

A crucial ability of human intelligence is to build up models of individual 3D objects from partial scene observations. Recent works achieve object-centric generation but without the ability to infer the representation, or achieve 3D scene…

Learning structured representations of the visual world in terms of objects promises to significantly improve the generalization abilities of current machine learning models. While recent efforts to this end have shown promising empirical…

Our understanding of the world depends highly on our capacity to produce intuitive and simplified representations which can be easily used to solve problems. We reproduce this simplification process using a neural network to build a low…

While pre-trained visual representations have significantly advanced imitation learning, they are often task-agnostic as they remain frozen during policy learning. In this work, we explore leveraging pre-trained text-to-image diffusion…

We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a sequence of camera images, proprioceptive robot states, and…

Object-centric representations are a promising path toward more systematic generalization by providing flexible abstractions upon which compositional world models can be built. Recent work on simple 2D and 3D datasets has shown that models…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

The choice of visual representation is key to scaling generalist robot policies. However, direct evaluation via policy rollouts is expensive, even in simulation. Existing proxy metrics focus on the representation's capacity to capture…

Object-based factorizations provide a useful level of abstraction for interacting with the world. Building explicit object representations, however, often requires supervisory signals that are difficult to obtain in practice. We present a…

Generic re-usable pre-trained image representation encoders have become a standard component of methods for many computer vision tasks. As visual representations for robots however, their utility has been limited, leading to a recent wave…

In this work, we study different approaches to self-supervised pretraining of object detection models. We first design a general framework to learn a spatially consistent dense representation from an image, by randomly sampling and…

Within the realm of service robotics, researchers have placed a great amount of effort into learning, understanding, and representing motions as manipulations for task execution by robots. The task of robot learning and problem-solving is…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Current machine learning techniques proposed to automatically discover a robot kinematics usually rely on a priori information about the robot's structure, sensors properties or end-effector position. This paper proposes a method to…

Model-based reinforcement learning (RL) has proven to be a data efficient approach for learning control tasks but is difficult to utilize in domains with complex observations such as images. In this paper, we present a method for learning…