相关论文: Learning reusable concepts across different egocen…

In this work we employ multitask learning to capitalize on the structure that exists in related supervised tasks to train complex neural networks. It allows training a network for multiple objectives in parallel, in order to improve…

Complex physical tasks entail a sequence of object interactions, each with its own preconditions -- which can be difficult for robotic agents to learn efficiently solely through their own experience. We introduce an approach to discover…

Taking over arbitrary tasks like humans do with a mobile service robot in open-world settings requires a holistic scene perception for decision-making and high-level control. This paper presents a human-inspired scene perception model to…

A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…

Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are faced with unfamiliar tasks, such as…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…

Human actions in egocentric videos are often hand-object interactions composed from a verb (performed by the hand) applied to an object. Despite their extensive scaling up, egocentric datasets still face two limitations - sparsity of action…

Human activities are particularly complex and variable, and this makes challenging for deep learning models to reason about them. However, we note that such variability does have an underlying structure, composed of a hierarchy of patterns…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

Learning to perform activities through demonstration requires extracting meaningful information about the environment from observations. In this research, we investigate the challenge of planning high-level goal-oriented actions in a…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

The possibility of sharing one's point of view makes use of wearable cameras compelling. These videos are often long, boring and coupled with extreme shake, as the camera is worn on a moving person. Fast forwarding (i.e. frame sampling) is…

Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap between human and robot in both visual appearance and…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Emotion is a key element in user-generated videos. However, it is difficult to understand emotions conveyed in such videos due to the complex and unstructured nature of user-generated content and the sparsity of video frames expressing…

Humans recognize the visual world at multiple levels: we effortlessly categorize scenes and detect objects inside, while also identifying the textures and surfaces of the objects along with their different compositional parts. In this…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

Many computer vision tasks address the problem of scene understanding and are naturally interrelated e.g. object classification, detection, scene segmentation, depth estimation, etc. We show that we can leverage the inherent relationships…