相关论文: ViPro-2: Unsupervised State Estimation via Integra…

Physical motion models offer interpretable predictions for the motion of vehicles. However, some model parameters, such as those related to aero- and hydrodynamics, are expensive to measure and are often only roughly approximated reducing…

Unsupervised learning of a generalizable model of the visual appearance of humans from video data is of major importance for computing systems interacting naturally with their users and others. We propose a step towards automatic behavior…

Autonomous driving gained huge traction in recent years, due to its potential to change the way we commute. Much effort has been put into trying to estimate the state of a vehicle. Meanwhile, learning to forecast the state of a vehicle…

Recent advances in deep learning have significantly improved performance of video prediction. However, state-of-the-art methods still suffer from blurriness and distortions in their future predictions, especially when there are large…

Visual explanation (attention)-guided learning uses not only labels but also explanations to guide model reasoning process. While visual attention-guided learning has shown promising results, it requires a large number of explanation…

Imitation-learning-based visuomotor policies have been widely used in robot manipulation, where both visual observations and proprioceptive states are typically adopted together for precise control. However, in this study, we find that this…

Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…

This work considers identifying parameters characterizing a physical system's dynamic motion directly from a video whose rendering configurations are inaccessible. Existing solutions require massive training data or lack generalizability to…

This paper studies the problem of predicting future trajectories of people in unseen cameras of novel scenarios and views. We approach this problem through the real-data-free setting in which the model is trained only on 3D simulation data…

We study the problem of designing interval-valued observers that simultaneously estimate the system state and learn an unknown dynamic model for partially unknown nonlinear systems with dynamic unknown inputs and bounded noise signals.…

In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

From just a glance, humans can make rich predictions about the future state of a wide range of physical systems. On the other hand, modern approaches from engineering, robotics, and graphics are often restricted to narrow domains and…

Understanding the 3D world without supervision is currently a major challenge in computer vision as the annotations required to supervise deep networks for tasks in this domain are expensive to obtain on a large scale. In this paper, we…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

Dense video understanding requires answering several questions such as who is doing what to whom, with what, how, why, and where. Recently, Video Situation Recognition (VidSitu) is framed as a task for structured prediction of multiple…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift…

The problem of state estimation has a long history with many successful algorithms that allow analytical derivation or approximation of posterior filtering distribution given the noisy observations. This report tries to conclude previous…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…