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

Recent advances in the areas of Multimodal Machine Learning and Artificial Intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision, Natural Language Processing, and Robotics. Whereas many…

The advances in AI-enabled techniques have accelerated the creation and automation of visualizations in the past decade. However, presenting visualizations in a descriptive and generative format remains a challenge. Moreover, current…

We provide an empirical investigation of the potential of pre-training vision-language models on an unprecedented scale: 100 billion examples. We find that model performance tends to saturate at this scale on many common Western-centric…

Physical AI aims to develop models that can perceive and predict real-world dynamics; yet, the extent to which current multi-modal large language models and video generative models support these abilities is insufficiently understood. We…

Self-supervised learning is an effective way for label-free model pre-training, especially in the video domain where labeling is expensive. Existing self-supervised works in the video domain use varying experimental setups to demonstrate…

Video understanding has witnessed significant progress with recent video foundation models demonstrating strong performance owing to self-supervised pre-training objectives; Masked Autoencoders (MAE) being the design of choice.…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

Machine learning techniques face numerous challenges to achieve optimal performance. These include computational constraints, the limitations of single-view learning algorithms and the complexity of processing large datasets from different…

Recently, there has been a surge in the popularity of pre trained large language models (LLMs) (such as GPT-4), sweeping across the entire Natural Language Processing (NLP) and Computer Vision (CV) communities. These LLMs have demonstrated…

Vector-Quantized Variational Autoencoders (VQ-VAE)[1] provide an unsupervised model for learning discrete representations by combining vector quantization and autoencoders. In this paper, we study the use of VQ-VAE for representation…

Pretrained representations from large-scale vision models have boosted the performance of downstream embodied policy learning. We look to understand whether additional self-supervised pretraining on exploration trajectories can build on…

We introduce VideoPrism, a general-purpose video encoder that tackles diverse video understanding tasks with a single frozen model. We pretrain VideoPrism on a heterogeneous corpus containing 36M high-quality video-caption pairs and 582M…

Recent advances in deep reinforcement learning require a large amount of training data and generally result in representations that are often over specialized to the target task. In this work, we present a methodology to study the…

While Reinforcement Learning (RL) agents can successfully learn to handle complex tasks, effectively generalizing acquired skills to unfamiliar settings remains a challenge. One of the reasons behind this is the visual encoders used are…

In this work, we focus on unsupervised vision-language-action mapping in the area of robotic manipulation. Recently, multiple approaches employing pre-trained large language and vision models have been proposed for this task. However, they…

Vision-language navigation requires agents to reason and act under constraints of embodiment. While vision-language models (VLMs) demonstrate strong generalization, current benchmarks provide limited understanding of how embodiment -- i.e.,…

In the realm of computer vision and robotics, embodied agents are expected to explore their environment and carry out human instructions. This necessitates the ability to fully understand 3D scenes given their first-person observations and…

Embodied AI is a crucial frontier in robotics, capable of planning and executing action sequences for robots to accomplish long-horizon tasks in physical environments. In this work, we introduce EmbodiedGPT, an end-to-end multi-modal…

Recent progress in large-scale robotic datasets and vision-language models (VLMs) has advanced research on vision-language-action (VLA) models. However, existing VLA models still face two fundamental challenges: (i) producing precise…

Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…