相关论文: Lossless Adaptation of Pretrained Vision Models Fo…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Parameter-efficient fine-tuning for pre-trained Vision Transformers aims to adeptly tailor a model to downstream tasks by learning a minimal set of new adaptation parameters while preserving the frozen majority of pre-trained parameters.…

Learning robust vision models that perform well in out-of-distribution (OOD) situations is an important task for model deployment in real-world settings. Despite extensive research in this field, many proposed methods have only shown minor…

As foundation models become more popular, there is a growing need to efficiently finetune them for downstream tasks. Although numerous adaptation methods have been proposed, they are designed to be efficient only in terms of how many…

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…

As the landscape of large language models expands, efficiently finetuning for specific tasks becomes increasingly crucial. At the same time, the landscape of parameter-efficient finetuning methods rapidly expands. Consequently,…

Learning transferable latent actions from large-scale object manipulation videos can significantly enhance generalization in downstream robotics tasks, as such representations are agnostic to different robot embodiments. Existing approaches…

The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…

Deep models trained on large amounts of data often incorporate implicit biases present during training time. If later such a bias is discovered during inference or deployment, it is often necessary to acquire new data and retrain the model.…

Adapter-based tuning has recently arisen as an alternative to fine-tuning. It works by adding light-weight adapter modules to a pretrained language model (PrLM) and only updating the parameters of adapter modules when learning on a…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

Human Activity Recognition (HAR) is a core task in pervasive computing systems, where models must operate under strict computational constraints while remaining robust to heterogeneous and evolving deployment conditions. Recent advances…

To what extent is the success of deep visualization due to the training? Could we do deep visualization using untrained, random weight networks? To address this issue, we explore new and powerful generative models for three popular deep…

Large Vision-Language Models (LVLMs) have demonstrated remarkable capabilities in processing both visual and textual information. However, the critical challenge of alignment between visual and textual representations is not fully…

General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…

Pre-trained vision models (PVMs) have demonstrated remarkable adaptability across a wide range of downstream vision tasks, showcasing exceptional performance. However, as these models scale to billions or even trillions of parameters,…

In the burgeoning field of intelligent transportation systems, enhancing vehicle-driver interaction through facial attribute recognition, such as facial expression, eye gaze, age, etc., is of paramount importance for safety,…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…

The widespread availability of pre-trained vision models has enabled numerous deep learning applications through their transferable representations. However, their computational and storage costs often limit practical deployment.…

We introduce a framework to measure how biases change before and after fine-tuning a large scale visual recognition model for a downstream task. Deep learning models trained on increasing amounts of data are known to encode societal biases.…