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

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

Recent time-contrastive learning approaches manage to learn invariant object representations without supervision. This is achieved by mapping successive views of an object onto close-by internal representations. When considering this…

Understanding dynamics from visual observations is a challenging problem that requires disentangling individual objects from the scene and learning their interactions. While recent object-centric models can successfully decompose a scene…

Object-centric representations are a promising path toward more systematic generalization by providing flexible abstractions upon which compositional world models can be built. Recent work on simple 2D and 3D datasets has shown that models…

Training deep neural networks to estimate the viewpoint of objects requires large labeled training datasets. However, manually labeling viewpoints is notoriously hard, error-prone, and time-consuming. On the other hand, it is relatively…

Self-supervised monocular depth estimation is an attractive solution that does not require hard-to-source depth labels for training. Convolutional neural networks (CNNs) have recently achieved great success in this task. However, their…

Egocentric perception has grown rapidly with the advent of immersive computing devices. Human gaze prediction is an important problem in analyzing egocentric videos and has primarily been tackled through either saliency-based modeling or…

In this paper we present EgoLifter, a novel system that can automatically segment scenes captured from egocentric sensors into a complete decomposition of individual 3D objects. The system is specifically designed for egocentric data where…

In recent years, dynamic vision sensors (DVS), also known as event-based cameras or neuromorphic sensors, have seen increased use due to various advantages over conventional frame-based cameras. Using principles inspired by the retina, its…

This paper focuses on building object-centric representations for long-term action anticipation in videos. Our key motivation is that objects provide important cues to recognize and predict human-object interactions, especially when the…

Egocentric vision is essential for both human and machine visual understanding, particularly in capturing the detailed hand-object interactions needed for manipulation tasks. Translating third-person views into first-person views…

Vision-language models (VLMs) have recently shown promising results in traditional downstream tasks. Evaluation studies have emerged to assess their abilities, with the majority focusing on the third-person perspective, and only a few…

Egocentric video-language pretraining is a crucial step in advancing the understanding of hand-object interactions in first-person scenarios. Despite successes on existing testbeds, we find that current EgoVLMs can be easily misled by…

Understanding visual reality involves acquiring common-sense knowledge about countless regularities in the visual world, e.g., how illumination alters the appearance of objects in a scene, and how motion changes their apparent spatial…

Humans naturally decompose their environment into entities at the appropriate level of abstraction to act in the world. Allowing machine learning algorithms to derive this decomposition in an unsupervised way has become an important line of…

Unsupervised multi-object segmentation has shown impressive results on images by utilizing powerful semantics learned from self-supervised pretraining. An additional modality such as depth or motion is often used to facilitate the…

The recently released Ego4D dataset and benchmark significantly scales and diversifies the first-person visual perception data. In Ego4D, the Visual Queries 2D Localization task aims to retrieve objects appeared in the past from the…

When an object detector is deployed in a novel setting it often experiences a drop in performance. This paper studies how an embodied agent can automatically fine-tune a pre-existing object detector while exploring and acquiring images in a…

A first-person camera, placed at a person's head, captures, which objects are important to the camera wearer. Most prior methods for this task learn to detect such important objects from the manually labeled first-person data in a…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…