相关论文: Enhancing Generalizability of Representation Learn…

Generative models have made significant progress in synthesizing visual content, including images, videos, and 3D/4D structures. However, they are typically trained with surrogate objectives such as likelihood or reconstruction loss, which…

We introduce a Generalizable Neural Radiance Field approach for predicting 3D workspace occupancy from egocentric robot observations. Unlike prior methods operating in camera-centric coordinates, our model constructs occupancy…

Accurately reconstructing a 3D scene including explicit geometry information is both attractive and challenging. Geometry reconstruction can benefit from incorporating differentiable appearance models, such as Neural Radiance Fields and 3D…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Given large amount of real photos for training, Convolutional neural network shows excellent performance on object recognition tasks. However, the process of collecting data is so tedious and the background are also limited which makes it…

Graph representation learning (GRL) is a fundamental task in machine learning, aiming to encode high-dimensional graph-structured data into low-dimensional vectors. Self-supervised learning (SSL) methods are widely used in GRL because they…

We present Generalizable Hierarchical Skill Learning (GSL), a novel framework for hierarchical policy learning that significantly improves policy generalization and sample efficiency in robot manipulation. One core idea of GSL is to use…

Deep learning techniques for point clouds have achieved strong performance on a range of 3D vision tasks. However, it is costly to annotate large-scale point sets, making it critical to learn generalizable representations that can transfer…

We propose a method for self-supervised image representation learning under the guidance of 3D geometric consistency. Our intuition is that 3D geometric consistency priors such as smooth regions and surface discontinuities may imply…

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional…

For embodied agents to infer representations of the underlying 3D physical world they inhabit, they should efficiently combine multisensory cues from numerous trials, e.g., by looking at and touching objects. Despite its importance,…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

In human learning, it is common to use multiple sources of information jointly. However, most existing feature learning approaches learn from only a single task. In this paper, we propose a novel multi-task deep network to learn…

High-fidelity 3D scene reconstruction has been substantially advanced by recent progress in neural fields. However, most existing methods train a separate network from scratch for each individual scene. This is not scalable, inefficient,…

Generalizable, transferrable, and robust representation learning on graph-structured data remains a challenge for current graph neural networks (GNNs). Unlike what has been developed for convolutional neural networks (CNNs) for image data,…

The prevailing graph neural network models have achieved significant progress in graph representation learning. However, in this paper, we uncover an ever-overlooked phenomenon: the pre-trained graph representation learning model tested…

The rapid advancement in self-supervised representation learning has highlighted its potential to leverage unlabeled data for learning rich visual representations. However, the existing techniques, particularly those employing different…

Multi-task learning is a popular machine learning approach that enables simultaneous learning of multiple related tasks, improving algorithmic efficiency and effectiveness. In the hard parameter sharing approach, an encoder shared through…

Recent advancements in self-supervised learning (SSL) made it possible to learn generalizable visual representations from unlabeled data. The performance of Deep Learning models fine-tuned on pretrained SSL representations is on par with…

Graph convolutional networks (GCNs) allow us to learn topologically-aware node embeddings, which can be useful for classification or link prediction. However, they are unable to capture long-range dependencies between nodes without adding…