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

Literatures in state space models focus on parametric inference and prediction, which fail if the state space model is not fully specified and the maximum likelihood estimation does not work. In this paper, we assume the state transition…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

As data-driven modeling of physical dynamical systems becomes more prevalent, a new challenge is emerging: making these models more compatible and aligned with existing human knowledge. AI-driven scientific modeling processes typically…

Estimating full-body motion using the tracking signals of head and hands from VR devices holds great potential for various applications. However, the sparsity and unique distribution of observations present a significant challenge,…

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

The task of state estimation in active distribution systems faces a major challenge due to the integration of different measurements with multiple reporting rates. As a result, distribution systems are essentially unobservable in real time,…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

Human state detection and behavior prediction have seen significant advancements with the rise of machine learning and multimodal sensing technologies. However, predicting prosocial behavior intentions in mobility scenarios, such as helping…

This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

The difficulty of annotating training data is a major obstacle to using CNNs for low-level tasks in video. Synthetic data often does not generalize to real videos, while unsupervised methods require heuristic losses. Proxy tasks can…

State space models are emerging as a dominant model class for sequence problems with many relying on the HiPPO framework to initialize their dynamics. However, HiPPO fundamentally assumes data to be noise-free; an assumption often violated…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Weakly supervised video grounding aims to localize temporal boundaries relevant to a given query without explicit ground-truth temporal boundaries. While existing methods primarily use Gaussian-based proposals, they overlook the importance…

Deep neural networks have been very successful in image estimation applications such as compressive-sensing and image restoration, as a means to estimate images from partial, blurry, or otherwise degraded measurements. These networks are…

Video action models are an appealing foundation for Vision--Language--Action systems because they can learn visual dynamics from large-scale video data and transfer this knowledge to downstream robot control. Yet current diffusion-based…

As virtual reality (VR) becomes widespread, head and hand motion data captured by consumer systems has become substantially more common. However, the extent of what can be inferred from such motion remains unclear. This paper investigates…

Various stuff and things in visual data possess specific traits, which can be learned by deep neural networks and are implicitly represented as the visual prior, e.g., object location and shape, in the model. Such prior potentially impacts…

Pre-trained Vision-language (VL) models, such as CLIP, have shown significant generalization ability to downstream tasks, even with minimal fine-tuning. While prompt learning has emerged as an effective strategy to adapt pre-trained VL…

We study the unsupervised learning of CNNs for optical flow estimation using proxy ground truth data. Supervised CNNs, due to their immense learning capacity, have shown superior performance on a range of computer vision problems including…