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What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of manipulation tasks, (ii) is generally applicable to both rigid and non-rigid objects, (iii) takes advantage of the strong priors provided by 3D vision, and (iv) is entirely learned from self-supervision.
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C. B. Choy, J. Gwak, S. Savarese, and M. Chandraker · 2016
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L. Pinto and A. Gupta · 2016
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J. Thewlis, H. Bilen, and A. Vedaldi · 2017
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