Related papers: CLTP: Contrastive Language-Tactile Pre-training fo…

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an…

We propose a lightweight and scalable Regional Point-Language Contrastive learning framework, namely \textbf{RegionPLC}, for open-world 3D scene understanding, aiming to identify and recognize open-set objects and categories. Specifically,…

Multi-Task Learning (MTL) is designed to train multiple correlated tasks simultaneously, thereby enhancing the performance of individual tasks. Typically, a multi-task network structure consists of a shared backbone and task-specific…

Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile…

Continual learning (CL) enables models to adapt to evolving data streams without catastrophic forgetting, a fundamental requirement for real-world AI systems. However, the current methods often depend on large replay buffers or heavily…

3D generative models have been recently successful in generating realistic 3D objects in the form of point clouds. However, most models do not offer controllability to manipulate the shape semantics of component object parts without…

Zero-shot (ZS) 3D anomaly detection is crucial for reliable industrial inspection, as it enables detecting and localizing defects without requiring any target-category training data. Existing approaches render 3D point clouds into 2D images…

The goal of point cloud localization based on linguistic description is to identify a 3D position using textual description in large urban environments, which has potential applications in various fields, such as determining the location…

Continual learning (CL) aims to help deep neural networks learn new knowledge while retaining what has been learned. Owing to their powerful generalizability, pre-trained vision-language models such as Contrastive Language-Image…

Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…

Cross-language pre-trained models such as multilingual BERT (mBERT) have achieved significant performance in various cross-lingual downstream NLP tasks. This paper proposes a multi-level contrastive learning (ML-CTL) framework to further…

Estimating physical properties is critical for safe and efficient autonomous robotic manipulation, particularly during contact-rich interactions. In such settings, vision and tactile sensing provide complementary information about object…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Enabling Large Language Models (LLMs) to comprehend the 3D physical world remains a significant challenge. Due to the lack of large-scale 3D-text pair datasets, the success of LLMs has yet to be replicated in 3D understanding. In this…

The remarkable potential of multi-modal large language models (MLLMs) in comprehending both vision and language information has been widely acknowledged. However, the scarcity of 3D scenes-language pairs in comparison to their 2D…

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves…

This study introduces a novel approach to online embedding of multi-scale CLIP (Contrastive Language-Image Pre-Training) features into 3D maps. By harnessing CLIP, this methodology surpasses the constraints of conventional…

Contrastive learning has emerged as a promising paradigm for 3D open-world understanding, i.e., aligning point cloud representation to image and text embedding space individually. In this paper, we introduce MixCon3D, a simple yet effective…

Click-through rate (CTR) prediction has become increasingly indispensable for various Internet applications. Traditional CTR models convert the multi-field categorical data into ID features via one-hot encoding, and extract the…

Vision-language modeling (VLM) aims to bridge the information gap between images and natural language. Under the new paradigm of first pre-training on massive image-text pairs and then fine-tuning on task-specific data, VLM in the remote…