相关论文: SSL-NBV: A Self-Supervised-Learning-Based Next-Bes…

Self-Supervised Learning (SSL) methods operate on unlabeled data to learn robust representations useful for downstream tasks. Most SSL methods rely on augmentations obtained by transforming the 2D image pixel map. These augmentations ignore…

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…

Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit…

Training deep neural networks to estimate the viewpoint of objects requires large labeled training datasets. However, manually labeling viewpoints is notoriously hard, error-prone, and time-consuming. On the other hand, it is relatively…

Self-supervised learning (SSL) is attractive for plant disease detection as it can exploit large collections of unlabeled leaf images, yet most existing SSL methods are built on CNNs or vision transformers that are poorly matched to…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

Self-Supervised Learning (SSL) is at the core of training modern large machine learning models, providing a scheme for learning powerful representations that can be used in a variety of downstream tasks. However, SSL strategies must be…

The training of a next-best-view (NBV) planner for visual place recognition (VPR) is a fundamentally important task in autonomous robot navigation, for which a typical approach is the use of visual experiences that are collected in the…

We propose Self-Augmented Residual 3D Gaussian Splatting (SA-ResGS), a novel framework to stabilize uncertainty quantification and enhancing uncertainty-aware supervision in next-best-view (NBV) selection for active scene reconstruction.…

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…

Nowadays, supervised deep learning techniques yield the best state-of-the-art prediction performances for a wide variety of computer vision tasks. However, such supervised techniques generally require a large amount of manually labeled…

Vision-language models (VLMs) have shown remarkable abilities by integrating large language models with visual inputs. However, they often fail to utilize visual evidence adequately, either depending on linguistic priors in vision-centric…

Despite the impressive progress of self-supervised learning (SSL), its applicability to low-compute networks has received limited attention. Reported performance has trailed behind standard supervised pre-training by a large margin, barring…

Landmark-based robot self-localization has recently garnered interest as a highly-compressive domain-invariant approach for performing visual place recognition (VPR) across domains (e.g., time of day, weather, and season). However,…

We investigate the utility of in-domain self-supervised pre-training of vision models in the analysis of remote sensing imagery. Self-supervised learning (SSL) has emerged as a promising approach for remote sensing image classification due…

Self-Supervised Learning (SSL) is a reliable learning mechanism in which a robot uses an original, trusted sensor cue for training to recognize an additional, complementary sensor cue. We study for the first time in SSL how a robot's…

Self-supervised learning (SSL) is an emerging technique that has been successfully employed to train convolutional neural networks (CNNs) and graph neural networks (GNNs) for more transferable, generalizable, and robust representation…

The Next Best View problem is a computer vision problem widely studied in robotics. To solve it, several methodologies have been proposed over the years. Some, more recently, propose the use of deep learning models. Predictions obtained…

Self-Supervised Learning (SSL) has been shown to learn useful and information-preserving representations. Neural Networks (NNs) are widely applied, yet their weight space is still not fully understood. Therefore, we propose to use SSL to…

Pole-like landmark has received increasing attention as a domain-invariant visual cue for visual robot self-localization across domains (e.g., seasons, times of day, weathers). However, self-localization using pole-like landmarks can be…