相关论文: 3D-MVP: 3D Multiview Pretraining for Robotic Manip…

Recent advances in imitation learning have shown great promise for developing robust robot manipulation policies from demonstrations. However, this promise is contingent on the availability of diverse, high-quality datasets, which are not…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

Accurate 3D bird's-eye view (BEV) object detection is essential for autonomous driving, and depends strongly on effective multimodal representations from complementary sensors such as cameras and LiDAR. Multimodal masked autoencoders have…

The Masked Autoencoder (MAE) has recently demonstrated effectiveness in pre-training Vision Transformers (ViT) for analyzing natural images. By reconstructing complete images from partially masked inputs, the ViT encoder gathers contextual…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

The ability to predict future visual observations conditioned on past observations and motor commands can enable embodied agents to plan solutions to a variety of tasks in complex environments. This work shows that we can create good video…

We propose the Multiple View Performer (MVP) - a new architecture for 3D shape completion from a series of temporally sequential views. MVP accomplishes this task by using linear-attention Transformers called Performers. Our model allows…

Learning robust and scalable visual representations from massive multi-view video data remains a challenge in computer vision and autonomous driving. Existing pre-training methods either rely on expensive supervised learning with 3D…

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…

For autonomous skill acquisition, robots have to learn about the physical rules governing the 3D world dynamics from their own past experience to predict and reason about plausible future outcomes. To this end, we propose a…

Vision Transformer (ViT) models have recently emerged as powerful and versatile models for various visual tasks. Recently, a work called PMF has achieved promising results in few-shot image classification by utilizing pre-trained vision…

Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…

This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…

GUI grounding, which translates natural language instructions into precise pixel coordinates, is essential for developing practical GUI agents. However, we observe that existing grounding models exhibit significant coordinate prediction…

Inspired by the great success achieved by CNN in image recognition, view-based methods applied CNNs to model the projected views for 3D object understanding and achieved excellent performance. Nevertheless, multi-view CNN models cannot…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

Recently, multi-modal masked autoencoders (MAE) has been introduced in 3D self-supervised learning, offering enhanced feature learning by leveraging both 2D and 3D data to capture richer cross-modal representations. However, these…

Real-world robotic manipulation demands visuomotor policies capable of robust spatial scene understanding and strong generalization across diverse camera viewpoints. While recent advances in 3D-aware visual representations have shown…

Current visual representation learning remains bifurcated: vision-language models (e.g., CLIP) excel at global semantic alignment but lack spatial precision, while self-supervised methods (e.g., MAE, DINO) capture intricate local structures…

Multi-view projection techniques have shown themselves to be highly effective in achieving top-performing results in the recognition of 3D shapes. These methods involve learning how to combine information from multiple view-points. However,…