10,862 research outputs found
Learning to Reconstruct Shapes from Unseen Classes
From a single image, humans are able to perceive the full 3D shape of an
object by exploiting learned shape priors from everyday life. Contemporary
single-image 3D reconstruction algorithms aim to solve this task in a similar
fashion, but often end up with priors that are highly biased by training
classes. Here we present an algorithm, Generalizable Reconstruction (GenRe),
designed to capture more generic, class-agnostic shape priors. We achieve this
with an inference network and training procedure that combine 2.5D
representations of visible surfaces (depth and silhouette), spherical shape
representations of both visible and non-visible surfaces, and 3D voxel-based
representations, in a principled manner that exploits the causal structure of
how 3D shapes give rise to 2D images. Experiments demonstrate that GenRe
performs well on single-view shape reconstruction, and generalizes to diverse
novel objects from categories not seen during training.Comment: NeurIPS 2018 (Oral). The first two authors contributed equally to
this paper. Project page: http://genre.csail.mit.edu
Deep Object-Centric Representations for Generalizable Robot Learning
Robotic manipulation in complex open-world scenarios requires both reliable
physical manipulation skills and effective and generalizable perception. In
this paper, we propose a method where general purpose pretrained visual models
serve as an object-centric prior for the perception system of a learned policy.
We devise an object-level attentional mechanism that can be used to determine
relevant objects from a few trajectories or demonstrations, and then
immediately incorporate those objects into a learned policy. A task-independent
meta-attention locates possible objects in the scene, and a task-specific
attention identifies which objects are predictive of the trajectories. The
scope of the task-specific attention is easily adjusted by showing
demonstrations with distractor objects or with diverse relevant objects. Our
results indicate that this approach exhibits good generalization across object
instances using very few samples, and can be used to learn a variety of
manipulation tasks using reinforcement learning
A critical analysis of self-supervision, or what we can learn from a single image
We look critically at popular self-supervision techniques for learning deep
convolutional neural networks without manual labels. We show that three
different and representative methods, BiGAN, RotNet and DeepCluster, can learn
the first few layers of a convolutional network from a single image as well as
using millions of images and manual labels, provided that strong data
augmentation is used. However, for deeper layers the gap with manual
supervision cannot be closed even if millions of unlabelled images are used for
training. We conclude that: (1) the weights of the early layers of deep
networks contain limited information about the statistics of natural images,
that (2) such low-level statistics can be learned through self-supervision just
as well as through strong supervision, and that (3) the low-level statistics
can be captured via synthetic transformations instead of using a large image
dataset.Comment: Accepted paper at the International Conference on Learning
Representations (ICLR) 202
MonoNeRF: Learning Generalizable NeRFs from Monocular Videos without Camera Pose
We propose a generalizable neural radiance fields - MonoNeRF, that can be
trained on large-scale monocular videos of moving in static scenes without any
ground-truth annotations of depth and camera poses. MonoNeRF follows an
Autoencoder-based architecture, where the encoder estimates the monocular depth
and the camera pose, and the decoder constructs a Multiplane NeRF
representation based on the depth encoder feature, and renders the input frames
with the estimated camera. The learning is supervised by the reconstruction
error. Once the model is learned, it can be applied to multiple applications
including depth estimation, camera pose estimation, and single-image novel view
synthesis. More qualitative results are available at:
https://oasisyang.github.io/mononerf .Comment: ICML 2023 camera ready version. Project page:
https://oasisyang.github.io/mononer
Efficient Image Gallery Representations at Scale Through Multi-Task Learning
Image galleries provide a rich source of diverse information about a product
which can be leveraged across many recommendation and retrieval applications.
We study the problem of building a universal image gallery encoder through
multi-task learning (MTL) approach and demonstrate that it is indeed a
practical way to achieve generalizability of learned representations to new
downstream tasks. Additionally, we analyze the relative predictive performance
of MTL-trained solutions against optimal and substantially more expensive
solutions, and find signals that MTL can be a useful mechanism to address
sparsity in low-resource binary tasks.Comment: Proceedings of the 43rd International ACM SIGIR Conference on
Research and Development in Information Retrieva
Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation
Manipulation of deformable objects, such as ropes and cloth, is an important
but challenging problem in robotics. We present a learning-based system where a
robot takes as input a sequence of images of a human manipulating a rope from
an initial to goal configuration, and outputs a sequence of actions that can
reproduce the human demonstration, using only monocular images as input. To
perform this task, the robot learns a pixel-level inverse dynamics model of
rope manipulation directly from images in a self-supervised manner, using about
60K interactions with the rope collected autonomously by the robot. The human
demonstration provides a high-level plan of what to do and the low-level
inverse model is used to execute the plan. We show that by combining the high
and low-level plans, the robot can successfully manipulate a rope into a
variety of target shapes using only a sequence of human-provided images for
direction.Comment: 8 pages, accepted to International Conference on Robotics and
Automation (ICRA) 201
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