We present an approach for building an active agent that learns to segment its visual observations into individual objects by interacting with its environment in a completely self-supervised manner. The agent uses its current segmentation model to infer pixels that constitute objects and refines the segmentation model by interacting with these pixels. The model learned from over 50K interactions generalizes to novel objects and backgrounds. To deal with noisy training signal for segmenting objects obtained by self-supervised interactions, we propose robust set loss. A dataset of robot's interactions along-with a few human labeled examples is provided as a benchmark for future research. We test the utility of the learned segmentation model by providing results on a downstream vision-based control task of rearranging multiple objects into target configurations from visual inputs alone. Videos, code, and robotic interaction dataset are available at this https URL
We propose a novel unsupervised learning approach to build features suitable for object detection and classification. The features are pre-trained on a large dataset without human annotation and later transferred via fine-tuning on a different, smaller and labeled dataset. The pre-training consists of solving jigsaw puzzles of natural images. To facilitate the transfer of features to other tasks, we introduce the context-free network (CFN), a siamese-ennead convolutional neural network. The features correspond to the columns of the CFN and they process image tiles independently (i.e., free of context). The later layers of the CFN then use the features to identify their geometric arrangement. Our experimental evaluations show that the learned features capture semantically relevant content. We pre-train the CFN on the training set of the ILSVRC2012 dataset and transfer the features on the combined training and validation set of Pascal VOC 2007 for object detection (via fast RCNN) and classification. These features outperform all current unsupervised features with (51.8 , ) for detection and (68.6 , ) for classification, and reduce the gap with supervised learning ( (56.5 , ) and (78.2 , ) respectively). We present an unsupervised visual feature learning algorithm driven by context-based pixel prediction. By analogy with auto-encoders, we propose Context Encoders – a convolutional neural network trained to generate the contents of an arbitrary image region conditioned on its surroundings. In order to succeed at this task, context encoders need to both understand the content of the entire image, as well as produce a plausible hypothesis for the missing part(s). When training context encoders, we have experimented with both a standard pixel-wise reconstruction loss, as well as a reconstruction plus an adversarial loss. The latter produces much sharper results because it can better handle multiple modes in the output. We found that a context encoder learns a representation that captures not just appearance but also the semantics of visual structures. We quantitatively demonstrate the effectiveness of our learned features for CNN pre-training on classification, detection, and segmentation tasks. Furthermore, context encoders can be used for semantic inpainting tasks, either stand-alone or as initialization for non-parametric methods.  The sound of crashing waves, the roar of fast-moving cars – sound conveys important information about the objects in our surroundings. In this work, we show that ambient sounds can be used as a supervisory signal for learning visual models. To demonstrate this, we train a convolutional neural network to predict a statistical summary of the sound associated with a video frame. We show that, through this process, the network learns a representation that conveys information about objects and scenes. We evaluate this representation on several recognition tasks, finding that its performance is comparable to that of other state-of-the-art unsupervised learning methods. Finally, we show through visualizations that the network learns units that are selective to objects that are often associated with characteristic sounds.  Understanding how images of objects and scenes behave in response to specific ego-motions is a crucial aspect of proper visual development, yet existing visual learning methods are conspicuously disconnected from the physical source of their images. We propose to exploit proprioceptive motor signals to provide unsupervised regularization in convolutional neural networks to learn visual representations from egocentric video. Specifically, we enforce that our learned features exhibit equivariance, i.e, they respond predictably to transformations associated with distinct ego-motions. With three datasets, we show that our unsupervised feature learning approach significantly outperforms previous approaches on visual recognition and next-best-view prediction tasks. In the most challenging test, we show that features learned from video captured on an autonomous driving platform improve large-scale scene recognition in static images from a disjoint domain. Is strong supervision necessary for learning a good visual representation? Do we really need millions of semantically-labeled images to train a Convolutional Neural Network (CNN)? In this paper, we present a simple yet surprisingly powerful approach for unsupervised learning of CNN. Specifically, we use hundreds of thousands of unlabeled videos from the web to learn visual representations. Our key idea is that visual tracking provides the supervision. That is, two patches connected by a track should have similar visual representation in deep feature space since they probably belong to same object or object part. We design a Siamese-triplet network with a ranking loss function to train this CNN representation. Without using a single image from ImageNet, just using 100K unlabeled videos and the VOC 2012 dataset, we train an ensemble of unsupervised networks that achieves 52 mAP (no bounding box regression). This performance comes tantalizingly close to its ImageNet-supervised counterpart, an ensemble which achieves a mAP of 54.4 . We also show that our unsupervised network can perform competitively in other tasks such as surface-normal estimation.  This paper addresses the well-established problem of unsupervised object discovery with a novel method inspired by weakly-supervised approaches. In particular, the ability of an object patch to predict the rest of the object (its context) is used as supervisory signal to help discover visually consistent object clusters. The main contributions of this work are: 1) framing unsupervised clustering as a leave-one-out context prediction task; 2) evaluating the quality of context prediction by statistical hypothesis testing between thing and stuff appearance models; and 3) an iterative region prediction and context alignment approach that gradually discovers a visual object cluster together with a segmentation mask and fine-grained correspondences. The proposed method outperforms previous unsupervised as well as weakly-supervised object discovery approaches, and is shown to provide correspondences detailed enough to transfer keypoint annotations. The dominant paradigm for feature learning in computer vision relies on training neural networks for the task of object recognition using millions of hand labelled images. Is it possible to learn useful features for a diverse set of visual tasks using any other form of supervision? In biology, living organisms developed the ability of visual perception for the purpose of moving and acting in the world. Drawing inspiration from this observation, in this work we investigate if the awareness of egomotion can be used as a supervisory signal for feature learning. As opposed to the knowledge of class labels, information about egomotion is freely available to mobile agents. We show that given the same number of training images, features learnt using egomotion as supervision compare favourably to features learnt using class-label as supervision on visual tasks of scene recognition, object recognition, visual odometry and keypoint matching.