相关论文: LACE: Latent Visual Representation for Cross-Embod…

Our aim is to develop a unified model for sign language understanding, that performs sign language translation (SLT) and sign-subtitle alignment (SSA). Together, these two tasks enable the conversion of continuous signing videos into spoken…

In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…

Humans acquire semantic object representations from egocentric visual streams with minimal supervision, but the underlying mechanisms remain unclear. Importantly, the visual system only processes the center of its field of view with high…

Vision-Language Encoders (VLEs) are widely adopted as the backbone of zero-shot referring image segmentation (RIS), enabling text-guided localization without task-specific training. However, prior works underexplored the underlying biases…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the…

Recent deep learning models can efficiently combine inputs from different modalities (e.g., images and text) and learn to align their latent representations, or to translate signals from one domain to another (as in image captioning, or…

Self-supervised learning (SSL) has recently achieved promising performance for 3D medical image analysis tasks. Most current methods follow existing SSL paradigm originally designed for photographic or natural images, which cannot…

Human perception and understanding is a major domain of computer vision which, like many other vision subdomains recently, stands to gain from the use of large models pre-trained on large datasets. We hypothesize that the most common…

Autonomous robotic systems applied to new domains require an abundance of expensive, pixel-level dense labels to train robust semantic segmentation models under full supervision. This study proposes a model-agnostic Depth Edge Alignment…

Generative models are spearheading recent progress in deep learning, showcasing strong promise for trajectory sampling in dynamical systems as well. However, whereas latent space modeling paradigms have transformed image and video…

Vision-Language-Action (VLA) models achieve preliminary generalization through pretraining on large scale robot teleoperation datasets. However, acquiring datasets that comprehensively cover diverse tasks and environments is extremely…

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often…

Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world…

As an important and challenging problem in computer vision, zero-shot learning (ZSL) aims at automatically recognizing the instances from unseen object classes without training data. To address this problem, ZSL is usually carried out in…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

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…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

Self-supervised learning (SSL), which aims to learn meaningful prior representations from unlabeled data, has been proven effective for skeleton-based action understanding. Different from the image domain, skeleton data possesses sparser…