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

3D perception is a critical problem in autonomous driving. Recently, the Bird-Eye-View (BEV) approach has attracted extensive attention, due to low-cost deployment and desirable vision detection capacity. However, the existing models ignore…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Generic re-usable pre-trained image representation encoders have become a standard component of methods for many computer vision tasks. As visual representations for robots however, their utility has been limited, leading to a recent wave…

Can we endow visuomotor robots with generalization capabilities to operate in diverse open-world scenarios? In this paper, we propose \textbf{Maniwhere}, a generalizable framework tailored for visual reinforcement learning, enabling the…

Self-supervised pre-training for images without labels has recently achieved promising performance in image classification. The success of transformer-based methods, ViT and MAE, draws the community's attention to the design of backbone…

In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

Self-supervised learning has attracted increasing attention as it learns data-driven representation from data without annotations. Vision transformer-based autoencoder (ViT-AE) by He et al. (2021) is a recent self-supervised learning…

We propose a pre-training strategy called Multi-modal Multi-task Masked Autoencoders (MultiMAE). It differs from standard Masked Autoencoding in two key aspects: I) it can optionally accept additional modalities of information in the input…

Robotic manipulation continues to be a challenge, and imitation learning (IL) enables robots to learn tasks from expert demonstrations. Current IL methods typically rely on fixed camera setups, where cameras are manually positioned in…

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…

Multi-view projection methods have demonstrated their ability to reach state-of-the-art performance on 3D shape recognition. Those methods learn different ways to aggregate information from multiple views. However, the camera view-points…

Masked autoencoders (MAE) have recently succeeded in self-supervised vision representation learning. Previous work mainly applied custom-designed (e.g., random, block-wise) masking or teacher (e.g., CLIP)-guided masking and targets.…

Transformers have gained increasing popularity in a wide range of applications, including Natural Language Processing (NLP), Computer Vision and Speech Recognition, because of their powerful representational capacity. However, harnessing…

For a complete comprehension of multi-person scenes, it is essential to go beyond basic tasks like detection and tracking. Higher-level tasks, such as understanding the interactions and social activities among individuals, are also crucial.…

Large-scale self-supervised pre-training Transformer architecture have significantly boosted the performance for various tasks in natural language processing (NLP) and computer vision (CV). However, there is a lack of researches on…

This paper shows that self-supervised visual pre-training from real-world images is effective for learning motor control tasks from pixels. We first train the visual representations by masked modeling of natural images. We then freeze the…

The progression of deep learning and the widespread adoption of sensors have facilitated automatic multi-view fusion (MVF) about the cardiovascular system (CVS) signals. However, prevalent MVF model architecture often amalgamates CVS…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…