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

Vision-Language Action (VLAs) models promise to extend the remarkable success of vision-language models (VLMs) to robotics. Yet, unlike VLMs in the vision-language domain, VLAs for robotics require finetuning to contend with varying…

Reinforcement learning (RL) has emerged as a critical paradigm for post-training Vision-Language-Action (VLA) models, enabling embodied agents to adapt and improve through environmental interaction. However, existing RL frameworks for VLAs…

Vision-Language Models (VLMs) have demonstrated strong performance on multimodal reasoning tasks, but their deployment remains challenging due to high inference latency and computational cost, particularly when processing high-resolution…

Performance and reliability analyses of autonomous vehicles (AVs) can benefit from tools that ``amplify'' small datasets to synthesize larger volumes of plausible samples of the AV's behavior. We consider a specific instance of this data…

While Large Vision Language Models (LVLMs) demonstrate impressive capabilities, their substantial computational and memory requirements pose deployment challenges on resource-constrained edge devices. Current parameter reduction techniques…

Vision-Language-Action (VLA) models have recently emerged as a powerful paradigm for robotic manipulation. Despite substantial progress enabled by large-scale pretraining and supervised fine-tuning (SFT), these models face two fundamental…

Quality control in additive manufacturing (AM) is vital for industrial applications in areas such as the automotive, medical and aerospace sectors. Geometric inaccuracies caused by shrinkage and deformations can compromise the life and…

Parameter-efficient transfer learning (PETL) has emerged as a flourishing research field for adapting large pre-trained models to downstream tasks, greatly reducing trainable parameters while grappling with memory challenges during…

Continual learning for vision-language models has achieved remarkable performance through synthetic replay, where samples are generated using Stable Diffusion to regularize during finetuning and retain knowledge. However, real-world…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

An implicit neural representation (INR) is a neural network that approximates a spatiotemporal function. Many memory-intensive visualization tasks, including modern 4D CT scanning methods, represent data natively as INRs. While INRs are…

One of the most critical aspects of multimodal Reinforcement Learning (RL) is the effective integration of different observation modalities. Having robust and accurate representations derived from these modalities is key to enhancing the…

Due to individual heterogeneity, person-specific models are usually achieving better performance than generic (one-size-fits-all) models in data-driven health applications. However, generic models are usually preferable in real-world…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for general-purpose robotic manipulation, leveraging large-scale pre-training to achieve strong performance. The field has rapidly evolved with additional spatial…

Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose…

Vision-Language-Action models (VLA) have demonstrated remarkable capabilities and promising potential in solving complex robotic manipulation tasks. However, their substantial parameter sizes and high inference latency pose significant…

Training and fine-tuning large language models (LLMs) come with challenges related to memory and computational requirements due to the increasing size of the model weights and the optimizer states. Various techniques have been developed to…

Although deep reinforcement learning (RL) has recently enjoyed many successes, its methods are still data inefficient, which makes solving numerous problems prohibitively expensive in terms of data. We aim to remedy this by taking advantage…

Few-shot recognition (FSR) aims to train a classification model with only a few labeled examples of each concept concerned by a downstream task, where data annotation cost can be prohibitively high. We develop methods to solve FSR by…

For deep reinforcement learning (RL) from pixels, learning effective state representations is crucial for achieving high performance. However, in practice, limited experience and high-dimensional inputs prevent effective representation…