相关论文: Bridging Language, Vision and Action: Multimodal V…

Transformers have shown significant effectiveness for various vision tasks including both high-level vision and low-level vision. Recently, masked autoencoders (MAE) for feature pre-training have further unleashed the potential of…

Masked Autoencoders (MAE) play a pivotal role in learning potent representations, delivering outstanding results across various 3D perception tasks essential for autonomous driving. In real-world driving scenarios, it's commonplace to…

In this paper, we present a multimodal and dynamical VAE (MDVAE) applied to unsupervised audio-visual speech representation learning. The latent space is structured to dissociate the latent dynamical factors that are shared between the…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

Cross-lingual self-supervised learning has been a growing research topic in the last few years. However, current works only explored the use of audio signals to create representations. In this work, we study cross-lingual self-supervised…

Perceptual ambiguity and task conflict limit multitask robotic manipulation via imitation learning. We propose a framework combining a Language-Conditioned Visual Representation (LCVR) module and a Language-conditioned Mixture-ofExperts…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

We investigated the adaptation and performance of Masked Autoencoders (MAEs) with Vision Transformer (ViT) architectures for self-supervised representation learning on one-dimensional (1D) ultrasound signals. Although MAEs have demonstrated…

Large Language Models (LLMs) have so far impressed the world, with unprecedented capabilities that emerge in models at large scales. On the vision side, transformer models (i.e., ViT) are following the same trend, achieving the best…

Integrating information from multiple modalities is arguably one of the essential prerequisites for grounding artificial intelligence systems with an understanding of the real world. Recent advances in video transformers that jointly learn…

Multimodal machine translation involves drawing information from more than one modality, based on the assumption that the additional modalities will contain useful alternative views of the input data. The most prominent tasks in this area…

Masked Autoencoder (MAE) has recently been shown to be effective in pre-training Vision Transformers (ViT) for natural image analysis. By reconstructing full images from partially masked inputs, a ViT encoder aggregates contextual…

A fundamental problem in computer animation is that of realizing purposeful and realistic human movement given a sufficiently-rich set of motion capture clips. We learn data-driven generative models of human movement using autoregressive…

Variational autoencoders (VAEs) are powerful tools for learning latent representations of data used in a wide range of applications. In practice, VAEs usually require multiple training rounds to choose the amount of information the latent…

Multimodal vision language models (VLMs) have made significant progress with the support of continuously increasing model sizes and data volumes. Running VLMs on edge devices has become a challenge for their widespread application. There…

Variational Autoencoder is a scalable method for learning latent variable models of complex data. It employs a clear objective that can be easily optimized. However, it does not explicitly measure the quality of learned representations. We…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

Autoencoders have found widespread application in both their original deterministic form and in their variational formulation (VAEs). In scientific applications and in image processing it is often of interest to consider data that are…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

Effective multimodal reasoning depends on the alignment of visual and linguistic representations, yet the mechanisms by which vision-language models (VLMs) achieve this alignment remain poorly understood. Following the LiMBeR framework, we…