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

Text recognition is a long-standing research problem for document digitalization. Existing approaches are usually built based on CNN for image understanding and RNN for char-level text generation. In addition, another language model is…

The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Object manipulation capabilities are essential skills that set apart embodied agents engaging with the world, especially in the realm of robotics. The ability to predict outcomes of interactions with objects is paramount in this setting.…

This paper tests the hypothesis that modeling a scene in terms of entities and their local interactions, as opposed to modeling the scene globally, provides a significant benefit in generalizing to physical tasks in a combinatorial space…

This paper uses Model Predictive Control (MPC) to optimise the input torques of a Three-Degrees-of-Freedom (DOF) robotic arm, enabling it to operate to the target position and grasp the object accurately. A monocular camera is firstly used…

Robots operating in the real world require both rich manipulation skills as well as the ability to semantically reason about when to apply those skills. Towards this goal, recent works have integrated semantic representations from…

The interpretation of spatial references is highly contextual, requiring joint inference over both language and the environment. We consider the task of spatial reasoning in a simulated environment, where an agent can act and receive…

Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…

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…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

Compositional representations are thought to enable humans to generalize across combinatorially vast state spaces. Models with learnable object slots, which encode information about objects in separate latent codes, have shown promise for…

Supervised (pre-)training currently yields state-of-the-art performance for representation learning for visual recognition, yet it comes at the cost of (1) intensive manual annotations and (2) an inherent restriction in the scope of data…

The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…

Progress in deep learning highlights the tremendous potential of utilizing diverse robotic datasets for attaining effective generalization and makes it enticing to consider leveraging broad datasets for attaining robust generalization in…

Recent advances in object detectors have led to their adoption for industrial uses. However, their deployment in safety-critical applications is hindered by the inherent lack of reliability of neural networks and the complex structure of…

Learning control policies for multi-robot systems (MRS) remains a major challenge due to long-term coordination and the difficulty of obtaining realistic training data. In this work, we address both limitations within an imitation learning…

Our goal is to learn a deep network that, given a small number of images of an object of a given category, reconstructs it in 3D. While several recent works have obtained analogous results using synthetic data or assuming the availability…

Despite tremendous progress over the past decade, deep learning methods generally fall short of human-level systematic generalization. It has been argued that explicitly capturing the underlying structure of data should allow connectionist…

Recent self-supervised learning models simulate the development of semantic object representations by training on visual experience similar to that of toddlers. However, these models ignore the foveated nature of human vision with high/low…