相关论文: Learning Robust Representations via Bidirectional …

Vision Transformer (ViT) self-attention mechanism is characterized by feature collapse in deeper layers, resulting in the vanishing of low-level visual features. However, such features can be helpful to accurately represent and identify…

The rapidly evolving field of robotics necessitates methods that can facilitate the fusion of multiple modalities. Specifically, when it comes to interacting with tangible objects, effectively combining visual and tactile sensory data is…

Humans are remarkably good at understanding and reasoning about complex visual scenes. The capability to decompose low-level observations into discrete objects allows us to build a grounded abstract representation and identify the…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

We propose a way to learn visual features that are compatible with previously computed ones even when they have different dimensions and are learned via different neural network architectures and loss functions. Compatible means that, if…

Vision Transformer (ViT) is emerging as the state-of-the-art architecture for image recognition. While recent studies suggest that ViTs are more robust than their convolutional counterparts, our experiments find that ViTs trained on…

Aiming to advance AI agents, large foundation models significantly improve reasoning and instruction execution, yet the current focus on vision and language neglects the potential of perceiving diverse modalities in open-world environments.…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

While supervised learning has enabled great progress in many applications, unsupervised learning has not seen such widespread adoption, and remains an important and challenging endeavor for artificial intelligence. In this work, we propose…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Self-supervised pretrain techniques have been widely used to improve the downstream tasks' performance. However, real-world magnetic resonance (MR) studies usually consist of different sets of contrasts due to different acquisition…

Efficiently learning visual representations of items is vital for large-scale recommendations. In this article we compare several pretrained efficient backbone architectures, both in the convolutional neural network (CNN) and in the vision…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

We introduce Vision Bridge Transformer (ViBT), a large-scale instantiation of Brownian Bridge Models designed for conditional generation. Unlike traditional diffusion models that transform noise into data, Bridge Models directly model the…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…

Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast,…

Self-supervised speech pre-training enables deep neural network models to capture meaningful and disentangled factors from raw waveform signals. The learned universal speech representations can then be used across numerous downstream tasks.…

We introduce a new language representation model called BERT, which stands for Bidirectional Encoder Representations from Transformers. Unlike recent language representation models, BERT is designed to pre-train deep bidirectional…