相关论文: Towards Stable Self-Supervised Object Representati…

Object understanding in egocentric visual data is arguably a fundamental research topic in egocentric vision. However, existing object datasets are either non-egocentric or have limitations in object categories, visual content, and…

Human-object interaction is one of the most important visual cues and we propose a novel way to represent human-object interactions for egocentric action anticipation. We propose a novel transformer variant to model interactions by…

We propose a self-supervised visual learning method by predicting the variable playback speeds of a video. Without semantic labels, we learn the spatio-temporal visual representation of the video by leveraging the variations in the visual…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

While head-mounted devices are becoming more compact, they provide egocentric views with significant self-occlusions of the device user. Hence, existing methods often fail to accurately estimate complex 3D poses from egocentric views. In…

The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in…

In this paper, we propose a novel self-supervised learning model for estimating continuous ego-motion from video. Our model learns to estimate camera motion by watching RGBD or RGB video streams and determining translational and rotation…

Generative world models have shown promise for simulating dynamic environments, yet egocentric video remains challenging due to rapid viewpoint changes, frequent hand-object interactions, and goal-directed procedures whose evolution depends…

Egocentric, or first-person vision which became popular in recent years with an emerge in wearable technology, is different than exocentric (third-person) vision in some distinguishable ways, one of which being that the camera wearer is…

Collecting large-scale egocentric video datasets with dense spatial and temporal annotations is costly, slow, and often constrained by environmental biases, privacy constraints, and limited coverage of interaction patterns. While synthetic…

This paper deals with the problem of localizing objects in image and video datasets from visual exemplars. In particular, we focus on the challenging problem of egocentric visual query localization. We first identify grave implicit biases…

Egocentric videos provide valuable insights into human interactions with the physical world, which has sparked growing interest in the computer vision and robotics communities. A critical challenge in fully understanding the geometry and…

Lifelogging devices are spreading faster everyday. This growth can represent great benefits to develop methods for extraction of meaningful information about the user wearing the device and his/her environment. In this paper, we propose a…

The objective of this paper is self-supervised representation learning, with the goal of solving semi-supervised video object segmentation (a.k.a. dense tracking). We make the following contributions: (i) we propose to improve the existing…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Unsupervised object-centric learning from videos is a promising approach to extract structured representations from large, unlabeled collections of videos. To support downstream tasks like autonomous control, these representations must be…

Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodiment gap. During manipulation, humans actively coordinate…