相关论文: Where are we in the search for an Artificial Visua…

Visual Place Recognition (VPR) has been a subject of significant research over the last 15 to 20 years. VPR is a fundamental task for autonomous navigation as it enables self-localization within an environment. Although robots are often…

What is the best way to learn a universal face representation? Recent work on Deep Learning in the area of face analysis has focused on supervised learning for specific tasks of interest (e.g. face recognition, facial landmark localization…

We present EmbodiedMAE, a unified 3D multi-modal representation for robot manipulation. Current approaches suffer from significant domain gaps between training datasets and robot manipulation tasks, while also lacking model architectures…

Vision-Language Navigation (VLN) is a core challenge in embodied AI, requiring agents to navigate real-world environments using natural language instructions. Current language model-based navigation systems operate on discrete topological…

Large multimodal models exhibit remarkable intelligence, yet their embodied cognitive abilities during motion in open-ended urban 3D space remain to be explored. We introduce a benchmark to evaluate whether video-large language models…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

In this work, we introduce long-video masked-embedding autoencoders (LV-MAE), a self-supervised learning framework for long video representation. Our approach treats short- and long-span dependencies as two separate tasks. Such decoupling…

Video is a promising source of knowledge for embodied agents to learn models of the world's dynamics. Large deep networks have become increasingly effective at modeling complex video data in a self-supervised manner, as evaluated by metrics…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Scaling has not yet been convincingly demonstrated for pure self-supervised learning from video. However, prior work has focused evaluations on semantic-related tasks $\unicode{x2013}$ action classification, ImageNet classification, etc. In…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Multimodality Representation Learning, as a technique of learning to embed information from different modalities and their correlations, has achieved remarkable success on a variety of applications, such as Visual Question Answering (VQA),…

Frozen pretrained models have become a viable alternative to the pretraining-then-finetuning paradigm for transfer learning. However, with frozen models there are relatively few parameters available for adapting to downstream tasks, which…

The upsurge in pre-trained large models started by ChatGPT has swept across the entire deep learning community. Such powerful models demonstrate advanced generative ability and multimodal understanding capability, which quickly set new…

Visual error metrics play a fundamental role in the quantification of perceived image similarity. Most recently, use cases for them in real-time applications have emerged, such as content-adaptive shading and shading reuse to increase…

Recognizing wild faces is extremely hard as they appear with all kinds of variations. Traditional methods either train with specifically annotated variation data from target domains, or by introducing unlabeled target variation data to…

Pre-training general-purpose visual features with convolutional neural networks without relying on annotations is a challenging and important task. Most recent efforts in unsupervised feature learning have focused on either small or highly…

We launch EVA, a vision-centric foundation model to explore the limits of visual representation at scale using only publicly accessible data. EVA is a vanilla ViT pre-trained to reconstruct the masked out image-text aligned vision features…

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…