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

Unsupervised domain adaptive (UDA) algorithms can markedly enhance the performance of object detectors under conditions of domain shifts, thereby reducing the necessity for extensive labeling and retraining. Current domain adaptive object…

Transformer is a powerful model for text understanding. However, it is inefficient due to its quadratic complexity to input sequence length. Although there are many methods on Transformer acceleration, they are still either inefficient on…

Transformer-based architectures have achieved remarkable success in natural language processing and computer vision. However, their performance in multivariate long-term forecasting often falls short compared to simpler linear baselines.…

Temporal modeling is crucial for various video learning tasks. Most recent approaches employ either factorized (2D+1D) or joint (3D) spatial-temporal operations to extract temporal contexts from the input frames. While the former is more…

Understanding how Vision-Language-Action (VLA) models transform multimodal knowledge into embodied control remains an open challenge. We present VLA-Trace, a progressive diagnostic framework that analyzes VLA models through a unified…

Model-based reinforcement learning has attracted much attention due to its high sample efficiency and is expected to be applied to real-world robotic applications. In the real world, as unobservable disturbances can lead to unexpected…

Transformer is a ubiquitous model for natural language processing and has attracted wide attentions in computer vision. The attention maps are indispensable for a transformer model to encode the dependencies among input tokens. However,…

Recently, Transformer based models have shown competitive automatic speech recognition (ASR) performance. One key factor in the success of these models is the multi-head attention mechanism. However, for trained models, we have previously…

Transformer architecture has been showing its great strength in visual object tracking, for its effective attention mechanism. Existing transformer-based approaches adopt the pixel-to-pixel attention strategy on flattened image features and…

Vision-Language-Action (VLA) models show promise in embodied reasoning, yet remain far from true generalists-they often require task-specific fine-tuning, incur high compute costs, and generalize poorly to unseen tasks. We propose MetaVLA,…

Recently multimodal transformer models have gained popularity because their performance on language and vision tasks suggest they learn rich visual-linguistic representations. Focusing on zero-shot image retrieval tasks, we study three…

An extension of Transformers is proposed that enables explicit relational reasoning through a novel module called the Abstractor. At the core of the Abstractor is a variant of attention called relational cross-attention. The approach is…

Multi-view action recognition aims to recognize human actions using multiple camera views and deals with occlusion caused by obstacles or crowds. In this task, cooperation among views, which generates a joint representation by combining…

Contrastive learning has become one of the most impressive approaches for multi-modal representation learning. However, previous multi-modal works mainly focused on cross-modal understanding, ignoring in-modal contrastive learning, which…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

Multimodal embedding models, built upon causal Vision Language Models (VLMs), have shown promise in various tasks. However, current approaches face three key limitations: the use of causal attention in VLM backbones is suboptimal for…

Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…

The ability to evolve is fundamental for any valuable autonomous agent whose knowledge cannot remain limited to that injected by the manufacturer. Consider for example a home assistant robot: it should be able to incrementally learn new…

Inferring object motion representations from observations enhances the performance of robotic manipulation tasks. This paper introduces a new paradigm for robot imitation learning that generates action sequences by reasoning about object…

Developing agents that can perform complex control tasks from high dimensional observations such as pixels is challenging due to difficulties in learning dynamics efficiently. In this work, we propose to learn forward and inverse dynamics…