相关论文: Spotlighting Task-Relevant Features: Object-Centri…

The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…

Learning object-level, structured representations is widely regarded as a key to better generalization in vision and underpins the design of next-generation Pre-trained Vision Models (PVMs). Mainstream Object-Centric Learning (OCL) methods…

This paper addresses key challenges in object-centric representation learning of video. While existing approaches struggle with complex scenes, we propose a novel weakly-supervised framework that emphasises geometric understanding and…

Predictive world models enable agents to model scene dynamics and reason about the consequences of their actions. Inspired by human perception, object-centric world models capture scene dynamics using object-level representations, which can…

Visual foundation models provide strong perceptual features for robotics, but their dense representations lack explicit object-level structure, limiting robustness and contractility in manipulation tasks. We propose STORM (Slot-based…

Object-centric learning aims to represent visual data with a set of object entities (a.k.a. slots), providing structured representations that enable systematic generalization. Leveraging advanced architectures like Transformers, recent…

Dexterous manipulation of arbitrary objects, a fundamental daily task for humans, has been a grand challenge for autonomous robotic systems. Although data-driven approaches using reinforcement learning can develop specialist policies that…

Object-centric representation learning aims to decompose visual scenes into fixed-size vectors called "slots" or "object files", where each slot captures a distinct object. Current state-of-the-art object-centric models have shown…

We tackle the problem of learning robotic sensorimotor control policies that can generalize to visually diverse and unseen environments. Achieving broad generalization typically requires large datasets, which are difficult to obtain for…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

Recent advancements in robotic manipulation have highlighted the potential of intermediate representations for improving policy generalization. In this work, we explore grounding masks as an effective intermediate representation, balancing…

Similar to humans perceiving visual scenes as objects, Object-Centric Learning (OCL) can abstract dense images or videos into sparse object-level features. Transformer-based OCL handles complex textures well due to the decoding guidance of…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

The binding problem in human cognition, concerning how the brain represents and connects objects within a fixed network of neural connections, remains a subject of intense debate. Most machine learning efforts addressing this issue in an…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Generic re-usable pre-trained image representation encoders have become a standard component of methods for many computer vision tasks. As visual representations for robots however, their utility has been limited, leading to a recent wave…

Slot-based object-centric learning represents an image as a set of latent slots with a decoder that combines them into an image or features. The decoder specifies how slots are combined into an output, but the slot set is typically fixed:…

Object-centric scene decompositions are important representations for downstream tasks in fields such as computer vision and robotics. The recently proposed Slot Attention module, already leveraged by several derivative works for image…