Related papers: Collaborative Representation Learning for Alignmen…
Large Vision-Language Models (LVLMs) usually suffer from prohibitive computational and memory costs due to the quadratic growth of visual tokens with image resolution. Existing token compression methods, while varied, often lack a…
Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…
Cross-Modal Retrieval (CMR), which retrieves relevant items from one modality (e.g., audio) given a query in another modality (e.g., visual), has undergone significant advancements in recent years. This capability is crucial for robots to…
Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…
Pre-trained Vision-Language (V-L) models set the benchmark for generalization to downstream tasks among the noteworthy contenders. Many characteristics of the V-L model have been explored in existing research including the challenge of the…
Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to…
The missing signal caused by the objects being occluded or an unstable sensor is a common challenge during data collection. Such missing signals will adversely affect the results obtained from the data, and this issue is observed more…
Multimodal learning aims to capture both shared and private information from multiple modalities. However, existing methods that project all modalities into a single latent space for fusion often overlook the asynchronous, multi-level…
Achieving safe, reliable real-world robotic manipulation requires agents to evolve beyond vision and incorporate tactile sensing to overcome sensory deficits and reliance on idealised state information. Despite its potential, the efficacy…
Generalizable algorithms for tactile sensing remain underexplored, primarily due to the diversity of sensor modalities. Recently, many methods for cross-sensor transfer between optical (vision-based) tactile sensors have been investigated,…
Prompt tuning represents a valuable technique for adapting pre-trained visual-language models (VLM) to various downstream tasks. Recent advancements in CoOp-based methods propose a set of learnable domain-shared or image-conditional textual…
Multimodal intent recognition aims to leverage diverse modalities such as expressions, body movements and tone of speech to comprehend user's intent, constituting a critical task for understanding human language and behavior in real-world…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…
Recent vision-language-action (VLA) models build upon vision-language foundations, and have achieved promising results and exhibit the possibility of task generalization in robot manipulation. However, due to the heterogeneity of tactile…
The architecture of multimodal large language models (MLLMs) commonly connects a vision encoder, often based on CLIP-ViT, to a large language model. While CLIP-ViT works well for capturing global image features, it struggles to model local…
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…
Image-Text Retrieval (ITR) is challenging in bridging visual and lingual modalities. Contrastive learning has been adopted by most prior arts. Except for limited amount of negative image-text pairs, the capability of constrastive learning…
We propose TacFiLM, a lightweight modality-fusion approach that integrates visual-tactile signals into vision-language-action (VLA) models. While recent advances in VLA models have introduced robot policies that are both generalizable and…