相关论文: On Pre-Training for Visuo-Motor Control: Revisitin…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…

Existing research studies on vision and language grounding for robot navigation focus on improving model-free deep reinforcement learning (DRL) models in synthetic environments. However, model-free DRL models do not consider the dynamics in…

Vision-language large models have achieved remarkable success in various multi-modal tasks, yet applying them to video understanding remains challenging due to the inherent complexity and computational demands of video data. While…

We present a single neural network architecture composed of task-agnostic components (ViTs, convolutions, and LSTMs) that achieves state-of-art results on both the ImageNav ("go to location in <this picture>") and ObjectNav ("find a chair")…

The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…

Recent advances in vision-language models (VLMs) emphasize long chain-of-thought reasoning; yet, we find that their performance on visual tasks is primarily limited by a lack of visual perception as opposed to reasoning itself. In this…

One recent promising approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques using methods such as SRAL and multi-process fusion. These approaches come…

Cross-domain few-shot learning (CDFSL) aims to transfer knowledge from a data-sufficient source domain to data-scarce target domains. Although Vision Transformer (ViT) has shown superior capability in many vision tasks, its transferability…

We present an optimization study of the Vision-Language Frontier Maps (VLFM) applied to the Object Goal Navigation task in robotics. Our work evaluates the efficiency and performance of various vision-language models, object detectors,…

Self-supervised pretraining has been extensively studied in language and vision domains, where a unified model can be easily adapted to various downstream tasks by pretraining representations without explicit labels. When it comes to…

Vision-language models (VLMs) can learn high-quality representations from a large-scale training dataset of image-text pairs. Prompt learning is a popular approach to fine-tuning VLM to adapt them to downstream tasks. Despite the satisfying…

In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding vector fields (GVFs) may limit the motion capability due to…

In this paper we present a general, flexible framework for learning mappings from images to actions by interacting with the environment. The basic idea is to introduce a feature-based image classifier in front of a reinforcement learning…

Pre-training and transfer learning are an important building block of current computer vision systems. While pre-training is usually performed on large real-world image datasets, in this paper we ask whether this is truly necessary. To this…

Vision-and-Language (V+L) pre-training models have achieved tremendous success in recent years on various multi-modal benchmarks. However, the majority of existing models require pre-training on a large set of parallel image-text data,…

Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs can also natively produce robot trajectories. We demonstrate…

Collaborative robots are expected to be able to work alongside humans and in some cases directly replace existing human workers, thus effectively responding to rapid assembly line changes. Current methods for programming contact-rich tasks,…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

Large-scale pre-trained transformers have demonstrated remarkable success in various computer vision tasks. However, it is still highly challenging to fully fine-tune these models for downstream tasks due to their high computational and…

Large vision language models (LVLMs) have demonstrated impressive performance across a wide range of tasks. These capabilities largely stem from visual instruction tuning, which fine-tunes models on datasets consisting of curated…