相关论文: Real-World Robot Learning with Masked Visual Pre-t…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

An important goal of self-supervised learning is to enable model pre-training to benefit from almost unlimited data. However, one method that has recently become popular, namely masked image modeling (MIM), is suspected to be unable to…

We present a novel masked image modeling (MIM) approach, context autoencoder (CAE), for self-supervised representation pretraining. We pretrain an encoder by making predictions in the encoded representation space. The pretraining tasks…

Pre-training by numerous image data has become de-facto for robust 2D representations. In contrast, due to the expensive data acquisition and annotation, a paucity of large-scale 3D datasets severely hinders the learning for high-quality 3D…

Scaling general-purpose manipulation to new robot embodiments remains challenging: each platform typically needs large, homogeneous demonstrations, and end-to-end pixel-to-action pipelines may degenerate under background and viewpoint…

Self-supervised learning has emerged as a powerful approach for leveraging large-scale unlabeled data to improve model performance in various domains. In this paper, we explore masked self-supervised pre-training for text recognition…

Self-supervised tasks have been utilized to build useful representations that can be used in downstream tasks when the annotation is unavailable. In this paper, we introduce a self-supervised video representation learning method based on…

Self-supervised video transformer pre-training has recently benefited from the mask-and-predict pipeline. They have demonstrated outstanding effectiveness on downstream video tasks and superior data efficiency on small datasets. However,…

Recent work has shown that self-supervised pre-training leads to improvements over supervised learning on challenging visual recognition tasks. CLIP, an exciting new approach to learning with language supervision, demonstrates promising…

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional…

Recent unsupervised pre-training methods have shown to be effective on language and vision domains by learning useful representations for multiple downstream tasks. In this paper, we investigate if such unsupervised pre-training methods can…

With the recent successful adaptation of transformers to the vision domain, particularly when trained in a self-supervised fashion, it has been shown that vision transformers can learn impressive object-reasoning-like behaviour and features…

Vision Transformers (ViT) become widely-adopted architectures for various vision tasks. Masked auto-encoding for feature pretraining and multi-scale hybrid convolution-transformer architectures can further unleash the potentials of ViT,…

Learning generalizable policies that can adapt to unseen environments remains challenging in visual Reinforcement Learning (RL). Existing approaches try to acquire a robust representation via diversifying the appearances of in-domain…

Foundation models pre-trained on massive unlabeled datasets have revolutionized natural language and computer vision, exhibiting remarkable generalization capabilities, thus highlighting the importance of pre-training. Yet, efforts in…

We introduce a self-supervised vision representation model BEiT, which stands for Bidirectional Encoder representation from Image Transformers. Following BERT developed in the natural language processing area, we propose a masked image…

Human perception and understanding is a major domain of computer vision which, like many other vision subdomains recently, stands to gain from the use of large models pre-trained on large datasets. We hypothesize that the most common…

For unsupervised pretraining, mask-reconstruction pretraining (MRP) approaches, e.g. MAE and data2vec, randomly mask input patches and then reconstruct the pixels or semantic features of these masked patches via an auto-encoder. Then for a…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Vision Transformers (ViTs) outperforms convolutional neural networks (CNNs) in several vision tasks with its global modeling capabilities. However, ViT lacks the inductive bias inherent to convolution making it require a large amount of…