相关论文: TesserAct: Learning 4D Embodied World Models

This paper tackles the problem of how to pre-train a model and make it generally reusable backbones for downstream task learning. In pre-training, we propose a method that builds an agent-environment interaction model by learning domain…

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…

The ability to predict future visual observations conditioned on past observations and motor commands can enable embodied agents to plan solutions to a variety of tasks in complex environments. This work shows that we can create good video…

Predicting scene dynamics from visual observations is challenging. Existing methods capture dynamics only within observed boundaries failing to extrapolate far beyond the training sequence. Node-RF (Neural ODE-based NeRF) overcomes this…

In this paper we consider self-supervised representation learning to improve sample efficiency in reinforcement learning (RL). We propose a forward prediction objective for simultaneously learning embeddings of states and action sequences.…

Estimating 3D hand pose directly from RGB imagesis challenging but has gained steady progress recently bytraining deep models with annotated 3D poses. Howeverannotating 3D poses is difficult and as such only a few 3Dhand pose datasets are…

Temporal prediction is inherently uncertain, but representing the ambiguity in natural image sequences is a challenging high-dimensional probabilistic inference problem. For natural scenes, the curse of dimensionality renders explicit…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Video world models aim to simulate dynamic, real-world environments, yet existing methods struggle to provide unified and precise control over camera and multi-object motion, as videos inherently capture dynamics in the projected 2D image…

Recent advancements in diffusion models have set new benchmarks in image and video generation, enabling realistic visual synthesis across single- and multi-frame contexts. However, these models still struggle with efficiently and explicitly…

Simultaneously localizing camera poses and constructing Gaussian radiance fields in dynamic scenes establish a crucial bridge between 2D images and the 4D real world. Instead of removing dynamic objects as distractors and reconstructing…

To go from (passive) process monitoring to active process control, an effective AI system must learn about the behavior of the complex system from very limited training data, forming an ad-hoc digital twin with respect to process inputs and…

Object detection in video and image surveillance is a well-established yet rapidly evolving task, strongly influenced by recent deep learning advancements. This review summarises modern techniques by examining architectural innovations,…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

Network embedding has recently emerged as a promising technique to embed nodes of a network into low-dimensional vectors. While fairly successful, most existing works focus on the embedding techniques for static networks. But in practice,…

While video-generation-based embodied world models have gained increasing attention, their reliance on large-scale embodied interaction data remains a key bottleneck. The scarcity, difficulty of collection, and high dimensionality of…

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…

Is a deep learning model capable of understanding systems governed by certain first principle laws by only observing the system's output? Can deep learning learn the underlying physics and honor the physics when making predictions? The…

We present a system for learning full-body neural avatars, i.e. deep networks that produce full-body renderings of a person for varying body pose and camera position. Our system takes the middle path between the classical graphics pipeline…

Generative world models have become essential data engines for autonomous driving, yet most existing efforts focus on videos or occupancy grids, overlooking the unique LiDAR properties. Extending LiDAR generation to dynamic 4D world…