相关论文: Beyond Task-Driven Features for Object Detection

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Post-training (via supervised fine-tuning) improves instruction-following, but often induces semantic mode collapse by biasing models toward low-entropy fine-tuning data at the expense of the high-entropy pretraining distribution.…

Head detection and tracking are essential for downstream tasks, but current methods often require large computational budgets, which increase latencies and ties up resources (e.g., processors, memory, and bandwidth). To address this, we…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

This paper introduces Dynamic Embeddings with Task-Oriented prompting (DETOT), a novel approach aimed at improving the adaptability and efficiency of machine learning models by implementing a flexible embedding layer. Unlike traditional…

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

In a human-robot collaborative task where a robot helps its partner by finding described objects, the depth dimension plays a critical role in successful task completion. Existing studies have mostly focused on comprehending the object…

Unsupervised object discovery, the task of identifying and localizing objects in images without human-annotated labels, remains a significant challenge and a growing focus in computer vision. In this work, we introduce a novel model, DADO…

Traditionally, most of the existing attribute learning methods are trained based on the consensus of annotations aggregated from a limited number of annotators. However, the consensus might fail in settings, especially when a wide spectrum…

Visual object recognition is not a trivial task, especially when the objects are degraded or surrounded by clutter or presented briefly. External cues (such as verbal cues or visual context) can boost recognition performance in such…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are to navigate to an object instance in an unseen environment. Prior works have shown that end-to-end ObjectNav agents that use vanilla visual and recurrent modules, e.g.…

Performing data augmentation for learning deep neural networks is known to be important for training visual recognition systems. By artificially increasing the number of training examples, it helps reducing overfitting and improves…

We propose a framework to continuously learn object-centric representations for visual learning and understanding. Existing object-centric representations either rely on supervisions that individualize objects in the scene, or perform…

Object-based Novelty Detection (ND) aims to identify unknown objects that do not belong to classes seen during training by an object detection model. The task is particularly crucial in real-world applications, as it allows to avoid…

Human-centric perception is the core of diverse computer vision tasks and has been a long-standing research focus. However, previous research studied these human-centric tasks individually, whose performance is largely limited to the size…

Additive models form a widely popular class of regression models which represent the relation between covariates and response variables as the sum of low-dimensional transfer functions. Besides flexibility and accuracy, a key benefit of…

Deep learning-based object detectors have achieved impressive performance in microscopy imaging, yet their confidence estimates often lack calibration, limiting their reliability for biomedical applications. In this work, we introduce a new…