相关论文: Exploring Stochastic Autoregressive Image Modeling…

We present a novel Speech Augmented Language Model (SALM) with {\em multitask} and {\em in-context} learning capabilities. SALM comprises a frozen text LLM, a audio encoder, a modality adapter module, and LoRA layers to accommodate speech…

Autoregressive models recently achieved comparable results versus state-of-the-art Generative Adversarial Networks (GANs) with the help of Vector Quantized Variational AutoEncoders (VQ-VAE). However, autoregressive models have several…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

Vision-Language Models (VLMs) have achieved remarkable success in visual question answering tasks, but their reliance on large numbers of visual tokens introduces significant computational overhead. While existing efficient VLM approaches…

As the real propagation environment becomes in creasingly complex and dynamic, millimeter wave beam prediction faces huge challenges. However, the powerful cross modal representation capability of vision-language model (VLM) provides a…

Masked Image Modeling (MIM) is a technique in self-supervised learning that focuses on acquiring detailed visual representations from unlabeled images by estimating the missing pixels in randomly masked sections. It has proven to be a…

Evaluating whether vision-language models (VLMs) reason consistently across representations is challenging because modality comparisons are typically confounded by task differences and asymmetric information. We introduce SEAM, a benchmark…

The alignment of vision-language representations endows current Vision-Language Models (VLMs) with strong multi-modal reasoning capabilities. However, the interpretability of the alignment component remains uninvestigated due to the…

Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate representation often needs a tradeoff between…

We introduce a novel method for pre-training of large-scale vision encoders. Building on recent advancements in autoregressive pre-training of vision models, we extend this framework to a multimodal setting, i.e., images and text. In this…

Adversarial Imitation Learning (AIL) allows the agent to reproduce expert behavior with low-dimensional states and actions. However, challenges arise in handling visual states due to their less distinguishable representation compared to…

Image segmentation is a fundamental task in computer vision, aimed at partitioning an image into semantically meaningful regions. Referring image segmentation extends this task by using natural language expressions to localize specific…

Visual SLAM - Simultaneous Localization and Mapping - in dynamic environments typically relies on identifying and masking image features on moving objects to prevent them from negatively affecting performance. Current approaches are…

Visual autoregressive models typically adhere to a raster-order ``next-token prediction" paradigm, which overlooks the spatial and temporal locality inherent in visual content. Specifically, visual tokens exhibit significantly stronger…

We propose a visual-linguistic representation learning approach within a self-supervised learning framework by introducing a new operation, loss, and data augmentation strategy. First, we generate diverse features for the image-text…

Autoregressive sequence Generation models have achieved state-of-the-art performance in areas like machine translation and image captioning. These models are autoregressive in that they generate each word by conditioning on previously…

Visual autoregressive models achieve remarkable generation quality through next-scale predictions across multi-scale token pyramids. However, the conventional method uses uniform scale downsampling to build these pyramids, leading to…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

The availability of large language models and open-vocabulary object perception methods enables more flexibility for domestic service robots. The large variability of domestic tasks can be addressed without implementing each task…

Large pre-trained vision-language models (VLMs), such as CLIP, have shown unprecedented zero-shot performance across a wide range of tasks. Nevertheless, these models may be unreliable under distributional shifts, as their performance is…