相关论文: Learning reusable concepts across different egocen…

We are concerned with the question of how an agent can acquire its own representations from sensory data. We restrict our focus to learning representations for long-term planning, a class of problems that state-of-the-art learning methods…

Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…

The thesis contributes in several important ways to the research area of 3D object category learning and recognition. To cope with the mentioned limitations, we look at human cognition, in particular at the fact that human beings learn to…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…

Long context egocentric video understanding has recently attracted significant research attention, with augmented reality (AR) highlighted as one of its most important application domains. Nevertheless, the task remains highly challenging…

Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…

Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich manipulation behavior across everyday…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…

Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…

We present Ego-1K, a large-scale collection of time-synchronized egocentric multiview videos designed to advance neural 3D video synthesis and dynamic scene understanding. The dataset contains nearly 1,000 short egocentric videos captured…

In object recognition research, many commonly used datasets (e.g., ImageNet and similar) contain relatively sparse distributions of object instances and views, e.g., one might see a thousand different pictures of a thousand different…

Meta-learning is a general approach to equip machine learning models with the ability to handle few-shot scenarios when dealing with many tasks. Most existing meta-learning methods work based on the assumption that all tasks are of equal…

We present a framework for autonomously learning a portable representation that describes a collection of low-level continuous environments. We show that these abstract representations can be learned in a task-independent egocentric space…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…

Integrating knowledge across different domains is an essential feature of human learning. Learning paradigms such as transfer learning, meta-learning, and multi-task learning reflect the human learning process by exploiting the prior…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…