相关论文: RoboSubtaskNet: Temporal Sub-task Segmentation for…

Temporal action segmentation (TAS) demands dense temporal supervision, yet most of the annotation cost in untrimmed videos is spent identifying and refining action transitions, where segmentation errors concentrate and small temporal shifts…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Temporal Activity Detection aims to predict activity classes per frame, in contrast to video-level predictions in Activity Classification (i.e., Activity Recognition). Due to the expensive frame-level annotations required for detection, the…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…

Joint segmentation and classification of fine-grained actions is important for applications of human-robot interaction, video surveillance, and human skill evaluation. However, despite substantial recent progress in large-scale action…

Temporal action segmentation (TAS) aims to classify and locate actions in the long untrimmed action sequence. With the success of deep learning, many deep models for action segmentation have emerged. However, few-shot TAS is still a…

Multi-task learning (MTL) is a powerful approach in deep learning that leverages the information from multiple tasks during training to improve model performance. In medical imaging, MTL has shown great potential to solve various tasks.…

In image-assisted minimally invasive surgeries (MIS), understanding surgical scenes is vital for real-time feedback to surgeons, skill evaluation, and improving outcomes through collaborative human-robot procedures. Within this context, the…

Many computer vision tasks address the problem of scene understanding and are naturally interrelated e.g. object classification, detection, scene segmentation, depth estimation, etc. We show that we can leverage the inherent relationships…

Automatic recognition of fine-grained surgical activities, called steps, is a challenging but crucial task for intelligent intra-operative computer assistance. The development of current vision-based activity recognition methods relies…

Deep learning methods have surpassed the performance of traditional techniques on a wide range of problems in computer vision, but nearly all of this work has studied consumer photos, where precisely correct output is often not critical. It…

Video object segmentation is an essential task in robot manipulation to facilitate grasping and learning affordances. Incremental learning is important for robotics in unstructured environments, since the total number of objects and their…

Surgical context inference has recently garnered significant attention in robot-assisted surgery as it can facilitate workflow analysis, skill assessment, and error detection. However, runtime context inference is challenging since it…

The object of Weakly-supervised Temporal Action Localization (WS-TAL) is to localize all action instances in an untrimmed video with only video-level supervision. Due to the lack of frame-level annotations during training, current WS-TAL…

We present BiTimeCrossNet (BTCNet), a multimodal self-supervised learning framework for long physiological recordings such as overnight sleep studies. While many existing approaches train on short segments treated as independent samples,…

Almost all the state-of-the-art neural networks for computer vision tasks are trained by (1) pre-training on a large-scale dataset and (2) finetuning on the target dataset. This strategy helps reduce dependence on the target dataset and…

Fine-tuning a pre-trained deep neural network has become a successful paradigm in various machine learning tasks. However, such a paradigm becomes particularly challenging with tabular data when there are discrepancies between the feature…

Semi-supervised video action recognition tends to enable deep neural networks to achieve remarkable performance even with very limited labeled data. However, existing methods are mainly transferred from current image-based methods (e.g.,…

Deep networks are an integral part of the current machine learning paradigm. Their inherent ability to learn complex functional mappings between data and various target variables, while discovering hidden, task-driven features, makes them a…