A Self-supervised Contrastive Learning Method for Grasp Outcomes Prediction

In this paper, we investigate the effectiveness of contrastive learning methods for predicting grasp outcomes in an unsupervised manner. By utilizing a publicly available dataset, we demonstrate that contrastive learning methods perform well on the task of grasp outcomes prediction. Specifically, the dynamic-dictionary-based method with the momentum updating technique achieves a satisfactory accuracy of 81.83% using data from one single tactile sensor, outperforming other unsupervised methods. Our results reveal the potential of contrastive learning methods for applications in the field of robot grasping and highlight the importance of accurate grasp prediction for achieving stable grasps.

Using contrastive learning to improve the performance of steganalysis schemes

To improve the detection accuracy and generalization of steganalysis, this paper proposes the Steganalysis Contrastive Framework (SCF) based on contrastive learning. The SCF improves the feature representation of steganalysis by maximizing the distance between features of samples of different categories and minimizing the distance between features of samples of the same category. To decrease the computing complexity of the contrastive loss in supervised learning, we design a novel Steganalysis Contrastive Loss (StegCL) based on the equivalence and transitivity of similarity. The StegCL eliminates the redundant computing in the existing contrastive loss. The experimental results show that the SCF improves the generalization and detection accuracy of existing steganalysis DNNs, and the maximum promotion is 2% and 3% respectively. Without decreasing the detection accuracy, the training time of using the StegCL is 10% of that of using the contrastive loss in supervised learning.