相关论文: Astra: Efficient Transformer Architecture and Cont…

Transformer-based models have achieved state-of-the-art performance in various computer vision tasks, including image and video analysis. However, Transformer's complex architecture and black-box nature pose challenges for explainability, a…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

The objective of this work is to learn an object-centric video representation, with the aim of improving transferability to novel tasks, i.e., tasks different from the pre-training task of action classification. To this end, we introduce a…

Recent advances in pre-trained vision transformers have shown promise in parameter-efficient audio-visual learning without audio pre-training. However, few studies have investigated effective methods for aligning multimodal features in…

Human vision is a highly active process driven by gaze, which directs attention to task-relevant regions through foveation, dramatically reducing visual processing. In contrast, robot learning systems typically rely on passive, uniform…

Learning adaptive visuomotor policies for embodied agents remains a formidable challenge, particularly when facing cross-embodiment variations such as diverse sensor configurations and dynamic properties. Conventional learning approaches…

Transformers have shown strong ability to model long-term dependencies and are increasingly adopted as world models in model-based reinforcement learning (RL) under partial observability. However, unlike natural language corpora, RL…

Generating representations of video data is of key importance in advancing the field of machine perception. Most current techniques rely on hand-annotated data, which can be difficult to work with, expensive to generate, and hard to scale.…

Human behavior understanding requires looking at minute details in the large context of a scene containing multiple input modalities. It is necessary as it allows the design of more human-like machines. While transformer approaches have…

This paper presents an audio visual automatic speech recognition (AV-ASR) system using a Transformer-based architecture. We particularly focus on the scene context provided by the visual information, to ground the ASR. We extract…

In this paper, we propose a simple and effective technique to allow for efficient self-supervised learning with bi-directional Transformers. Our approach is motivated by recent studies demonstrating that self-attention patterns in trained…

We propose Anticipative Video Transformer (AVT), an end-to-end attention-based video modeling architecture that attends to the previously observed video in order to anticipate future actions. We train the model jointly to predict the next…

End-to-end transformer-based trackers have achieved remarkable performance on most human-related datasets. However, training these trackers in heterogeneous scenarios poses significant challenges, including negative interference - where the…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

A robust awareness of how dynamic scenes evolve is essential for Autonomous Driving systems, as they must accurately detect, track, and predict the behaviour of surrounding obstacles. Traditional perception pipelines that rely on modular…

Meta-learning enables learning systems to adapt quickly to new tasks, similar to humans. Different meta-learning approaches all work under/with the mini-batch episodic training framework. Such framework naturally gives the information about…

Adversarial training (AT) can help improve the robustness of Vision Transformers (ViT) against adversarial attacks by intentionally injecting adversarial examples into the training data. However, this way of adversarial injection inevitably…

Foundational vision models, such as the Segment Anything Model (SAM), have achieved significant breakthroughs through extensive pre-training on large-scale visual datasets. Despite their general success, these models may fall short in…

We present ProgVLA, a compact vision-language-action (VLA) model designed for reliable robot manipulation under tight compute and memory budgets. The model specifically focuses on efficiently processing long multi-modal sequences by…

The success of Transformer-based models has encouraged many researchers to learn CAD models using sequence-based approaches. However, learning CAD models is still a challenge, because they can be represented as complex shapes with long…