相关论文: RoboMamba: Efficient Vision-Language-Action Model …

State space models (SSMs) with selection mechanisms and hardware-aware architectures, namely Mamba, have recently demonstrated significant promise in long-sequence modeling. Since the self-attention mechanism in transformers has quadratic…

State Space Model (SSM) is a mathematical model used to describe and analyze the behavior of dynamic systems. This model has witnessed numerous applications in several fields, including control theory, signal processing, economics and…

Addressing the dual challenges of local redundancy and global dependencies in video understanding, this work innovatively adapts the Mamba to the video domain. The proposed VideoMamba overcomes the limitations of existing 3D convolution…

Multimodal large language models (MLLMs) have attracted widespread interest and have rich applications. However, the inherent attention mechanism in its Transformer structure requires quadratic complexity and results in expensive…

Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We…

We introduce LocoMamba, a vision-driven cross-modal DRL framework built on selective state-space models, specifically leveraging Mamba, that achieves near-linear-time sequence modeling, effectively captures long-range dependencies, and…

Recent advancements in imitation learning, particularly with the integration of LLM techniques, are set to significantly improve robots' dexterity and adaptability. This paper proposes using Mamba, a state-of-the-art architecture with…

Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existing approaches face two challenges: limited language…

Modeling high-resolution spatiotemporal representations, including both global dynamic contexts (e.g., holistic human motion tendencies) and local motion details (e.g., high-frequency changes of keypoints), is essential for video-based…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…

Remote sensing image classification forms the foundation of various understanding tasks, serving a crucial function in remote sensing image interpretation. The recent advancements of Convolutional Neural Networks (CNNs) and Transformers…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

In recent years, the application of multimodal large language models (MLLM) in various fields has achieved remarkable success. However, as the foundation model for many downstream tasks, current MLLMs are composed of the well-known…

Designing computationally efficient network architectures remains an ongoing necessity in computer vision. In this paper, we adapt Mamba, a state-space language model, into VMamba, a vision backbone with linear time complexity. At the core…

Mamba, a recent selective structured state space model, excels in long sequence modeling, which is vital in the large model era. Long sequence modeling poses significant challenges, including capturing long-range dependencies within the…

Probabilistic State Space Models (SSMs) are essential for Reinforcement Learning (RL) from high-dimensional, partial information as they provide concise representations for control. Yet, they lack the computational efficiency of their…

Mamba has recently garnered attention as an effective backbone for vision tasks. However, its underlying mechanism in visual domains remains poorly understood. In this work, we systematically investigate Mamba's representational properties…

A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…

Recent advances in self-supervised learning for Vision Transformers (ViTs) have fueled breakthroughs in remote sensing (RS) foundation models. However, the quadratic complexity of self-attention poses a significant barrier to scalability,…

Multimodal Large Language Models (MLLMs) have attracted much attention for their multifunctionality. However, traditional Transformer architectures incur significant overhead due to their secondary computational complexity. To address this…