相关论文: VertiCoder: Self-Supervised Kinodynamic Representa…

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

Almost all digital videos are coded into compact representations before being transmitted. Such compact representations need to be decoded back to pixels before being displayed to humans and - as usual - before being enhanced/analyzed by…

Vision transformers have recently emerged as an effective alternative to convolutional networks for action recognition. However, vision transformers still struggle with geometric variations prevalent in video data. This paper proposes a…

Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

We introduce LayerLock, a simple yet effective approach for self-supervised visual representation learning, that gradually transitions from pixel to latent prediction through progressive layer freezing. First, we make the observation that…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Unsupervised contrastive learning for indoor-scene point clouds has achieved great successes. However, unsupervised learning point clouds in outdoor scenes remains challenging because previous methods need to reconstruct the whole scene and…

Self-supervised learning can be used for mitigating the greedy needs of Vision Transformer networks for very large fully-annotated datasets. Different classes of self-supervised learning offer representations with either good contextual…

Self-Supervised Learning (SSL) for Vision Transformers (ViTs) has recently demonstrated considerable potential as a pre-training strategy for a variety of computer vision tasks, including image classification and segmentation, both in…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Vision Transformers (ViTs) achieve state-of-the-art performance on challenging vision tasks, but their deployment on edge devices is severely hindered by the computational complexity and global reduction bottleneck imposed by layer…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

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…

Vision-based reinforcement learning requires efficient and robust representations of image-based observations, especially when the images contain distracting (task-irrelevant) elements such as shadows, clouds, and light. It becomes more…

We present CrissCross, a self-supervised framework for learning audio-visual representations. A novel notion is introduced in our framework whereby in addition to learning the intra-modal and standard 'synchronous' cross-modal relations,…

We study video-specific autoencoders that allow a human user to explore, edit, and efficiently transmit videos. Prior work has independently looked at these problems (and sub-problems) and proposed different formulations. In this work, we…