相关论文: Opinion: Learning Intuitive Physics May Require Mo…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…

Children learn powerful internal models of the world around them from a few years of egocentric visual experience. Can such internal models be learned from a child's visual experience with highly generic learning algorithms or do they…

The use of synthetic data for training computer vision algorithms has become increasingly popular due to its cost-effectiveness, scalability, and ability to provide accurate multi-modality labels. Although recent studies have demonstrated…

Generative foundation models like Stable Diffusion comprise a diverse spectrum of knowledge in computer vision with the potential for transfer learning, e.g., via generating data to train student models for downstream tasks. This could…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Training students in basic concepts of physics, such as the ones related to mass, volume, or density, is much more complicated than just stating the underlying definitions and laws. One of the reasons for this is that most students have…

Recently, neural operators have emerged as powerful tools for learning mappings between function spaces, enabling data-driven simulations of complex dynamics. Despite their successes, a deeper understanding of their learning mechanisms…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Simulating trajectories of virtual crowds is a commonly encountered task in Computer Graphics. Several recent works have applied Reinforcement Learning methods to animate virtual agents, however they often make different design choices when…

Data-driven learning approaches for physics simulation, sometimes referred to as world models, have emerged as promising alternatives to traditional physics simulators due to their differentiable nature. Prior work has demonstrated…

This paper demonstrates an approach for learning highly semantic image representations without relying on hand-crafted data-augmentations. We introduce the Image-based Joint-Embedding Predictive Architecture (I-JEPA), a non-generative…

Can we learn the physics of matter in motion directly from images and video--and trust it? Answering this question requires integrating experiments, physics-based simulation, and data across traditionally separate disciplines. Much of this…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

Next-frame prediction is a useful and powerful method for modelling and understanding the dynamics of video data. Inspired by the empirical success of causal language modelling and next-token prediction in language modelling, we explore the…

Physics-based reinforcement learning tasks can benefit from simplified physics simulators as they potentially allow near-optimal policies to be learned in simulation. However, such simulators require the latent factors (e.g. mass, friction…

Text-to-image diffusion models achieve impressive visual fidelity, yet they remain unreliable in multi-object generation. Despite extensive empirical evidence of these failures, the underlying causes remain unclear. We begin by asking how…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel object and their configurations. Developmental psychology…

Young children develop sophisticated internal models of the world based on their visual experience. Can such models be learned from a child's visual experience without strong inductive biases? To investigate this, we train state-of-the-art…