相关论文: ViNT: A Foundation Model for Visual Navigation

A Vision Transformer (ViT) is a simple neural architecture amenable to serve several computer vision tasks. It has limited built-in architectural priors, in contrast to more recent architectures that incorporate priors either about the…

This work targets to merge various Vision Transformers (ViTs) trained on different tasks (i.e., datasets with different object categories) or domains (i.e., datasets with the same categories but different environments) into one unified…

In this paper, we explore the possibility of building a unified foundation model that can be adapted to both vision-only and text-only tasks. Starting from BERT and ViT, we design a unified transformer consisting of modality-specific…

Transformers, which are popular for language modeling, have been explored for solving vision tasks recently, e.g., the Vision Transformer (ViT) for image classification. The ViT model splits each image into a sequence of tokens with fixed…

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")…

Modern computer vision is converging on a closed loop in which perception, reasoning and generation mutually reinforce each other. However, this loop remains incomplete: the top-down influence of high-level reasoning on the foundational…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

Conventional wisdom suggests that pre-training Vision Transformers (ViT) improves downstream performance by learning useful representations. Is this actually true? We investigate this question and find that the features and representations…

Most recent work in goal oriented visual navigation resorts to large-scale machine learning in simulated environments. The main challenge lies in learning compact representations generalizable to unseen environments and in learning…

Side-scan sonar (SSS) imagery presents unique challenges in the classification of man-made objects on the seafloor due to the complex and varied underwater environments. Historically, experts have manually interpreted SSS images, relying on…

Change detection in remote sensing images is essential for tracking environmental changes on the Earth's surface. Despite the success of vision transformers (ViTs) as backbones in numerous computer vision applications, they remain…

Foundation models have advanced machine learning across various modalities, including images. Recently multiple teams trained foundation models specialized for remote sensing applications. This line of research is motivated by the distinct…

The video grounding (VG) task aims to locate the queried action or event in an untrimmed video based on rich linguistic descriptions. Existing proposal-free methods are trapped in complex interaction between video and query, overemphasizing…

This paper proposes a simple, yet effective framework, called GiT, simultaneously applicable for various vision tasks only with a vanilla ViT. Motivated by the universality of the Multi-layer Transformer architecture (e.g, GPT) widely used…

The fast simulation of dynamical systems is a key challenge in many scientific and engineering applications, such as weather forecasting, disease control, and drug discovery. With the recent success of deep learning, there is increasing…

Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using…

The emerging vision-and-language navigation (VLN) problem aims at learning to navigate an agent to the target location in unseen photo-realistic environments according to the given language instruction. The main challenges of VLN arise…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

Vision Transformers (ViT) have recently demonstrated the significant potential of transformer architectures for computer vision. To what extent can image-based deep reinforcement learning also benefit from ViT architectures, as compared to…

The training of vision transformer (ViT) networks on small-scale datasets poses a significant challenge. By contrast, convolutional neural networks (CNNs) have an architectural inductive bias enabling them to perform well on such problems.…