相关论文: VIRL: Volume-Informed Representation Learning towa…

The success of Reinforcement Learning (RL) heavily relies on the ability to learn robust representations from the observations of the environment. In most cases, the representations learned purely by the reinforcement learning loss can…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Multi-label Recognition (MLR) involves assigning multiple labels to each data instance in an image, offering advantages over single-label classification in complex scenarios. However, it faces the challenge of annotating all relevant…

Vision-and-Language Pre-training (VLP) improves model performance for downstream tasks that require image and text inputs. Current VLP approaches differ on (i) model architecture (especially image embedders), (ii) loss functions, and (iii)…

Many real-world sequential decision making problems are partially observable by nature, and the environment model is typically unknown. Consequently, there is great need for reinforcement learning methods that can tackle such problems given…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Few-shot Class-Incremental Learning (FSCIL) poses the challenge of retaining prior knowledge while learning from limited new data streams, all without overfitting. The rise of Vision-Language models (VLMs) has unlocked numerous…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Recently, successful applications of reinforcement learning to chip placement have emerged. Pretrained models are necessary to improve efficiency and effectiveness. Currently, the weights of objective metrics (e.g., wirelength, congestion,…

Vision Language Models (VLMs) pretrained on Internet-scale vision-language data have demonstrated the potential to transfer their knowledge to robotic learning. However, the existing paradigm encounters three critical challenges: (1)…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

Recent advances in Multi-modal Large Language Models (MLLMs) target 3D spatial intelligence, yet the progress has been largely driven by post-training on curated benchmarks, leaving the inference-time approach relatively underexplored. In…

In the era of generative AI, integrating video generation models into robotics opens new possibilities for the general-purpose robot agent. This paper introduces imitation learning with latent video planning (VILP). We propose a latent…

Over the past several years there has been a considerable research investment into learning-based approaches to industrial assembly, but despite significant progress these techniques have yet to be adopted by industry. We argue that it is…

The alignment between humans and machines is a critical challenge in artificial intelligence today. Reinforcement learning, which aims to maximize a reward function, is particularly vulnerable to the risks associated with poorly designed…

This paper explores training medical vision-language models (VLMs) -- where the visual and language inputs are embedded into a common space -- with a particular focus on scenarios where training data is limited, as is often the case in…

Recent breakthroughs in vision-language models (VLMs) start a new page in the vision community. The VLMs provide stronger and more generalizable feature embeddings compared to those from ImageNet-pretrained models, thanks to the training on…

In the field of optics, precise control of light with arbitrary spatial resolution has long been a sought-after goal. Freeform nanophotonic devices are critical building blocks for achieving this goal, as they provide access to a design…