相关论文: SE(3)-Hyena Operator for Scalable Equivariant Lear…

In autonomous driving, deep learning enabled motion prediction is a popular topic. A critical gap in traditional motion prediction methodologies lies in ensuring equivariance under Euclidean geometric transformations and maintaining…

In Transformer-based architectures, the attention mechanism is inherently permutation-invariant with respect to the input sequence's tokens. To impose sequential order, token positions are typically encoded using a scheme with either fixed…

Long-sequence modeling faces a fundamental trade-off between the efficiency of compressive fixed-size memory in RNN-like models and the fidelity of lossless growing memory in attention-based Transformers. Inspired by the Multi-Store Model…

Equivariant quantum neural networks (QNNs) are promising variational models that exploit symmetries to improve machine learning capabilities. Despite theoretical developments in equivariant QNNs, their implementation on near-term quantum…

Translating or rotating an input image should not affect the results of many computer vision tasks. Convolutional neural networks (CNNs) are already translation equivariant: input image translations produce proportionate feature map…

State-of-the-art deep learning systems often require large amounts of data and computation. For this reason, leveraging known or unknown structure of the data is paramount. Convolutional neural networks (CNNs) are successful examples of…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…

Transformers face quadratic complexity and memory issues with long sequences, prompting the adoption of linear attention mechanisms using fixed-size hidden states. However, linear models often suffer from limited recall performance, leading…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

Efficient attentions have greatly improved the computational efficiency of Transformers. However, most existing linear attention mechanisms suffer from an \emph{efficiency degradation} problem, leading to inefficiencies in causal language…

Three-dimensional feature extraction is a critical component of autonomous driving systems, where perception tasks such as 3D object detection, bird's-eye-view (BEV) semantic segmentation, and occupancy prediction serve as important…

We present RiEMann, an end-to-end near Real-time SE(3)-Equivariant Robot Manipulation imitation learning framework from scene point cloud input. Compared to previous methods that rely on descriptor field matching, RiEMann directly predicts…

A key advantage of Recurrent Neural Networks (RNNs) over Transformers is their linear computational and space complexity enables faster training and inference for long sequences. However, RNNs are fundamentally unable to randomly access…

Robotic manipulation in unstructured environments requires the generation of robust and long-horizon trajectory-level policy with conditions of perceptual observations and benefits from the advantages of SE(3)-equivariant diffusion models…

As transformers are equivariant to the permutation of input tokens, encoding the positional information of tokens is necessary for many tasks. However, since existing positional encoding schemes have been initially designed for NLP tasks,…

Self-supervised pre-training paradigms have been extensively explored in the field of skeleton-based action recognition. In particular, methods based on masked prediction have pushed the performance of pre-training to a new height. However,…

The transformer architecture has driven breakthroughs in recent years on tasks which require modeling pairwise relationships between sequential elements, as is the case in natural language understanding. However, long seqeuences pose a…

The application of machine learning methods in quantum chemistry has enabled the study of numerous chemical phenomena, which are computationally intractable with traditional ab-initio methods. However, some quantum mechanical properties of…

Hamiltonian matrix prediction is pivotal in computational chemistry, serving as the foundation for determining a wide range of molecular properties. While SE(3) equivariant graph neural networks have achieved remarkable success in this…

We investigate in-context learning (ICL) through a meticulous experimental framework that systematically varies task complexity and model architecture. Extending beyond the linear regression baseline, we introduce Gaussian kernel regression…