相关论文: SCP: Soft Conditional Prompt Learning for Aerial V…

Robust Reinforcement Learning aims to derive optimal behavior that accounts for model uncertainty in dynamical systems. However, previous studies have shown that by considering the worst case scenario, robust policies can be overly…

Current pre-trained vision-language models, such as CLIP, have demonstrated remarkable zero-shot generalization capabilities across various downstream tasks. However, their performance significantly degrades when test inputs exhibit…

Adaptive sampling that exploits the spatiotemporal redundancy in videos is critical for always-on action recognition on wearable devices with limited computing and battery resources. The commonly used fixed sampling strategy is not…

Large-scale pre-trained image-text models exhibit robust multimodal representations, yet applying the Contrastive Language-Image Pre-training (CLIP) model to audio-visual localization remains challenging. Replacing the classification token…

Unmanned Aerial Vehicles (UAVs), or drones, have recently been used in several civil application domains from organ delivery to remote locations to wireless network coverage. These platforms, however, are naturally unstable systems for…

Large pre-trained vision-language models like CLIP have transformed computer vision by aligning images and text in a shared feature space, enabling robust zero-shot transfer via prompting. Soft-prompting, such as Context Optimization…

High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Ensuring robot safety can be challenging; user-defined constraints can miss edge cases, policies can become unsafe even when trained from safe data, and safety can be subjective. Thus, we learn about robot safety by showing policy…

Pre-trained vision-language models, e.g., CLIP, working with manually designed prompts have demonstrated great capacity of transfer learning. Recently, learnable prompts achieve state-of-the-art performance, which however are prone to…

To help evaluate and understand the latent capabilities of language models, this paper introduces an approach using optimized input embeddings, or 'soft prompts,' as a metric of conditional distance between a model and a target behavior.…

Spatio-temporal action detection encompasses the tasks of localizing and classifying individual actions within a video. Recent works aim to enhance this process by incorporating interaction modeling, which captures the relationship between…

In this work we introduce Salient Information Preserving Adversarial Training (SIP-AT), an intuitive method for relieving the robustness-accuracy trade-off incurred by traditional adversarial training. SIP-AT uses salient image regions to…

Prompts have been shown to be an effective method to adapt a frozen Pretrained Language Model (PLM) to perform well on downstream tasks. Prompts can be represented by a human-engineered word sequence or by a learned continuous embedding. In…

Prompt learning has recently become a very efficient transfer learning paradigm for Contrastive Language Image Pretraining (CLIP) models. Compared with fine-tuning the entire encoder, prompt learning can obtain highly competitive results by…

The scarcity of labeled action data poses a considerable challenge for developing machine learning algorithms for robotic object manipulation. It is expensive and often infeasible for a robot to interact with many objects. Conversely,…

Pre-trained vision-language models (e.g., CLIP) have shown promising zero-shot generalization in many downstream tasks with properly designed text prompts. Instead of relying on hand-engineered prompts, recent works learn prompts using the…

Semantic segmentation is a crucial task for robot navigation and safety. However, current supervised methods require a large amount of pixelwise annotations to yield accurate results. Labeling is a tedious and time consuming process that…

Active recognition, which allows intelligent agents to explore observations for better recognition performance, serves as a prerequisite for various embodied AI tasks, such as grasping, navigation and room arrangements. Given the evolving…

Prompt-tuning methods for Continual Learning (CL) freeze a large pre-trained model and train a few parameter vectors termed prompts. Most of these methods organize these vectors in a pool of key-value pairs and use the input image as query…