相关论文: DINO Pre-training for Vision-based End-to-end Auto…

The conventional training approach for image captioning involves pre-training a network using teacher forcing and subsequent fine-tuning with Self-Critical Sequence Training to maximize hand-crafted captioning metrics. However, when…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

This report demonstrates several methods used to make a self-driving vehicle using a supervised learning algorithm and a forward-facing RGBD camera. The project originally involved research in creating an adversarial attack on the vehicle's…

The need for a large amount of labeled data in the supervised setting has led recent studies to utilize self-supervised learning to pre-train deep neural networks using unlabeled data. Many self-supervised training strategies have been…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

We present VINO, a unified visual generator that performs image and video generation and editing within a single framework. Instead of relying on task-specific models or independent modules for each modality, VINO uses a shared diffusion…

Recent progress of deep learning has empowered various intelligent transportation applications, especially in car-sharing platforms. While the traditional operations of the car-sharing service highly relied on human engagements in fleet…

Learning disentangled representations from visual data, where different high-level generative factors are independently encoded, is of importance for many computer vision tasks. Solving this problem, however, typically requires to…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

Visuomotor policies often leverage large pre-trained Vision Transformers (ViTs) for their powerful generalization capabilities. However, their significant data requirements present a major challenge in the data-scarce context of most…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

Providing ground truth supervision to train visual models has been a bottleneck over the years, exacerbated by domain shifts which degenerate the performance of such models. This was the case when visual tasks relied on handcrafted features…

Unsupervised learning with functional data is an emerging paradigm of machine learning research with applications to computer vision, climate modeling and physical systems. A natural way of modeling functional data is by learning operators…

Vision-based deep learning (DL) methods have made great progress in learning autonomous driving models from large-scale crowd-sourced video datasets. They are trained to predict instantaneous driving behaviors from video data captured by…

DINO and DINOv2 are two model families being widely used to learn representations from unlabeled imagery data at large scales. Their learned representations often enable state-of-the-art performance for downstream tasks, such as image…

Semi-supervised learning is attracting increasing attention due to the fact that datasets of many domains lack enough labeled data. Variational Auto-Encoder (VAE), in particular, has demonstrated the benefits of semi-supervised learning.…

Leveraging vast amounts of unlabeled internet video data for embodied AI is currently bottlenecked by the lack of action labels and the presence of action-correlated visual distractors. Although recent latent action policy optimization…

Transformers are remarkably versatile, suggesting the existence of generic inductive biases beneficial across modalities. In this work, we explore a new way to instil such biases in vision transformers (ViTs) through pretraining on…

Vision Foundation Models (VFMs) have advanced representation learning through self-supervised methods. However, existing training pipelines are often inflexible, domain-specific, or computationally expensive, which limits their usability…

End-to-end autonomous driving increasingly leverages self-supervised video pretraining to learn transferable planning representations. However, pretraining video world models for scene understanding has so far brought only limited…