随着增强的焦点和虚拟现实应用（XR）来说，可以对可以将物体从图像和视频升力到适合各种相关3D任务的表示的算法。 XR设备和应用程序的大规模部署意味着我们不能仅仅依赖于监督学习，因为收集和注释现实世界中无限各种物体的数据是不可行的。我们提出了一种弱监督的方法，能够将物体的单个图像分解成形状（深度和正规），材料（反射率，反射率和发光）和全局照明参数。对于培训，该方法仅依赖于训练对象的粗略初始形状估计来引导学习过程。这种形状监督可以例如从预先预制的深度网络或 - 从传统的结构 - 来自运动管道中的普罗维尔或 - 更慷慨地实现。在我们的实验中，我们表明该方法可以将2D图像成功地将2D图像成功渲染为分解的3D表示并推广到未经证明的对象类别。由于缺乏频繁的评估因缺乏地面真理数据而困难，我们还介绍了一种允许定量评估的照片 - 现实的合成测试集。

最近有一个浪涌的方法，旨在以无监督的方式分解和分段场景，即无监督的多对象分段。执行此类任务是计算机愿景的长期目标，提供解锁对象级推理，而无需致密的注释来列车分段模型。尽管取得了重大进展，但在视觉上简单的场景上开发和培训了当前的模型，描绘了纯背景上的单色物体。然而，自然界在视觉上复杂，与多样化的纹理和复杂的照明效果等混杂方面。在这项研究中，我们展示了一个名为Clevrtex的新基准，设计为比较，评估和分析算法的下一个挑战。 CLEVRTEX采用具有不同形状，纹理和光映射材料的合成场景，采用物理基于渲染技术创建。它包括图50k示例，描绘了在背景上布置的3-10个对象，使用60材料的目录创建，以及使用25种不同材料创建的10k图像的另一测试集。我们在CLEVRTEX上基准最近近期无监督的多对象分段模型，并找到所有最先进的方法无法在纹理环境中学习良好的陈述，尽管在更简单的数据上表现令人印象深刻。我们还创建了Clevrtex DataSet的变体，控制了场景复杂性的不同方面，并探讨了各个缺点的当前方法。数据集和代码可在https://www.robots.ox.ac.uk/~vgg/research/clevrtex中获得。

自我监督的视觉表现学习的目标是学习强大，可转让的图像表示，其中大多数研究专注于物体或场景水平。另一方面，在部分级别的代表学习得到了显着的关注。在本文中，我们向对象部分发现和分割提出了一个无人监督的方法，并进行三个贡献。首先，我们通过一系列目标构建一个代理任务，鼓励模型将图像的有意义分解成其部件。其次，先前的工作争辩地用于重建或聚类预先计算的功能作为代理的代理;我们凭经验展示了这一点，这种情况不太可能找到有意义的部分;主要是因为它们的低分辨率和分类网络到空间涂抹信息的趋势。我们建议像素水平的图像重建可以缓解这个问题，充当互补的提示。最后，我们表明基于Keypoint回归的标准评估与分割质量不符合良好，因此引入不同的指标，NMI和ARI，更好地表征对象的分解成零件。我们的方法产生了一致的细粒度但视觉上不同的类别的语义部分，优于三个基准数据集的现有技术。代码可在项目页面上找到：https://www.robots.ox.ac.uk/~vgg/research/unsup-parts/

我们大多数人不是特定领域的专家，例如鸟类学。尽管如此，我们确实有一般的图像和语言理解，我们用来匹配我们所看到的专家资源。这使我们能够扩展我们的知识并在没有临时外部监督的情况下执行新的任务。相反，除非培训专门考虑到​​这一知识，否则机器更加难以咨询专家策划知识库。因此，在本文中，我们考虑了一个新问题：没有专家注释的细粒度的图像识别，我们通过利用Web百科全书中提供的广泛知识来解决这些问题。首先，我们学习模型来描述使用非专家图像描述来描述对象的视觉外观。然后，我们培训一个细粒度的文本相似性模型，它与句子级别的文件描述匹配。我们在两个数据集上评估该方法，并与跨模型检索的几个强大的基线和最先进的技术相比。代码可用：https://github.com/subhc/clever

从2D图像中学习可变形的3D对象通常是一个不适的问题。现有方法依赖于明确的监督来建立多视图对应关系，例如模板形状模型和关键点注释，这将其在“野外”中的对象上限制了。建立对应关系的一种更自然的方法是观看四处移动的对象的视频。在本文中，我们介绍了Dove，一种方法，可以从在线可用的单眼视频中学习纹理的3D模型，而无需关键点，视点或模板形状监督。通过解决对称性诱导的姿势歧义并利用视频中的时间对应关系，该模型会自动学会从每个单独的RGB框架中分解3D形状，表达姿势和纹理，并准备在测试时间进行单像推断。在实验中，我们表明现有方法无法学习明智的3D形状，而无需其他关键点或模板监督，而我们的方法在时间上产生了时间一致的3D模型，可以从任意角度来对其进行动画和呈现。

Combining clustering and representation learning is one of the most promising approaches for unsupervised learning of deep neural networks. However, doing so naively leads to ill posed learning problems with degenerate solutions. In this paper, we propose a novel and principled learning formulation that addresses these issues. The method is obtained by maximizing the information between labels and input data indices. We show that this criterion extends standard crossentropy minimization to an optimal transport problem, which we solve efficiently for millions of input images and thousands of labels using a fast variant of the Sinkhorn-Knopp algorithm. The resulting method is able to self-label visual data so as to train highly competitive image representations without manual labels. Our method achieves state of the art representation learning performance for AlexNet and ResNet-50 on SVHN, CIFAR-10, CIFAR-100 and ImageNet and yields the first self-supervised AlexNet that outperforms the supervised Pascal VOC detection baseline. Code and models are available 1 .

This paper addresses the problem of estimating the depth map of a scene given a single RGB image. We propose a fully convolutional architecture, encompassing residual learning, to model the ambiguous mapping between monocular images and depth maps. In order to improve the output resolution, we present a novel way to efficiently learn feature map up-sampling within the network. For optimization, we introduce the reverse Huber loss that is particularly suited for the task at hand and driven by the value distributions commonly present in depth maps. Our model is composed of a single architecture that is trained end-to-end and does not rely on post-processing techniques, such as CRFs or other additional refinement steps. As a result, it runs in real-time on images or videos. In the evaluation, we show that the proposed model contains fewer parameters and requires fewer training data than the current state of the art, while outperforming all approaches on depth estimation. Code and models are publicly available 5 .

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a direct mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals. In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

Learning enabled autonomous systems provide increased capabilities compared to traditional systems. However, the complexity of and probabilistic nature in the underlying methods enabling such capabilities present challenges for current systems engineering processes for assurance, and test, evaluation, verification, and validation (TEVV). This paper provides a preliminary attempt to map recently developed technical approaches in the assurance and TEVV of learning enabled autonomous systems (LEAS) literature to a traditional systems engineering v-model. This mapping categorizes such techniques into three main approaches: development, acquisition, and sustainment. We review the latest techniques to develop safe, reliable, and resilient learning enabled autonomous systems, without recommending radical and impractical changes to existing systems engineering processes. By performing this mapping, we seek to assist acquisition professionals by (i) informing comprehensive test and evaluation planning, and (ii) objectively communicating risk to leaders.