相关论文: GPPF: A General Perception Pre-training Framework …

Deep learning perception models require a massive amount of labeled training data to achieve good performance. While unlabeled data is easy to acquire, the cost of labeling is prohibitive and could create a tremendous burden on companies or…

Recently, domain-specific PLMs have been proposed to boost the task performance of specific domains (e.g., biomedical and computer science) by continuing to pre-train general PLMs with domain-specific corpora. However, this Domain-Adaptive…

Multi-modality foundation models, as represented by GPT-4V, have brought a new paradigm for low-level visual perception and understanding tasks, that can respond to a broad range of natural human instructions in a model. While existing…

Robotic manipulation in unstructured environments requires systems that can generalize across diverse tasks while maintaining robust and reliable performance. We introduce {GVF-TAPE}, a closed-loop framework that combines generative visual…

Complex manipulation tasks can contain various execution branches of primitive skills in sequence or in parallel under different scenarios. Manual specifications of such branching conditions and associated skill parameters are not only…

Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…

Vision-language models (VLMs) often struggle with geometric reasoning due to their limited perception of fundamental diagram elements. To tackle this challenge, we introduce GeoPerceive, a benchmark comprising diagram instances paired with…

Inevitable domain and task discrepancies in real-world scenarios can impair the generalization performance of the pre-trained deep models for medical data. Therefore, we audaciously propose that we should build a general-purpose medical AI…

Generalist foundation models (GFMs) are renowned for their exceptional capability and flexibility in effectively generalizing across diverse tasks and modalities. In the field of medicine, while GFMs exhibit superior generalizability based…

A key goal for the advancement of AI is to develop technologies that serve the needs not just of one group but of all communities regardless of their geographical region. In fact, a significant proportion of knowledge is locally shared by…

Intelligent transportation system combines advanced information technology to provide intelligent services such as monitoring, detection, and early warning for modern transportation. Intelligent transportation detection is the cornerstone…

Graph foundation models (GFM) aim to acquire transferable knowledge by pre-training on diverse graphs, which can be adapted to various downstream tasks. However, domain shift in graphs is inherently two-dimensional: graphs differ not only…

In this work, we propose GPT-FL, a generative pre-trained model-assisted federated learning (FL) framework. At its core, GPT-FL leverages generative pre-trained models to generate diversified synthetic data. These generated data are used to…

Text embedding and generative tasks are usually trained separately based on large language models (LLMs) nowadays. This causes a large amount of training cost and deployment effort. Context compression is also a challenging and pressing…

Learning solution operators for partial differential equations (PDEs) has become a foundational task in scientific machine learning. However, existing neural operator methods require abundant training data for each specific PDE and lack the…

Collecting annotated data for semantic segmentation is time-consuming and hard to scale up. In this paper, we for the first time propose a unified framework, termed as Multi-Dataset Pretraining, to take full advantage of the fragmented…

Perception is a fundamental task in the field of computer vision, encompassing a diverse set of subtasks that can be systematically categorized into four distinct groups based on two dimensions: prediction type and instruction type.…

A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO),…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

We build a Generative Pre-trained Transformer (GPT) model from scratch to solve sequential decision making tasks arising in contexts of operations research and management science which we call OMGPT. We first propose a general sequence…