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

We investigate the emergence of objects in visual perception in the absence of any semantic annotation. The resulting model has received no supervision, does not use any pre-trained features, and yet it can segment the domain of an image…

This paper studies how to introduce viewpoint-invariant feature representations that can help action recognition and detection. Although we have witnessed great progress of action recognition in the past decade, it remains challenging yet…

Spatio-temporal traffic forecasting is challenging due to complex temporal patterns, dynamic spatial structures, and diverse input formats. Although Transformer-based models offer strong global modeling, they often struggle with rigid…

Transformers achieve strong performance across diverse domains but implicitly assume Euclidean geometry in their attention mechanisms, limiting their effectiveness on data with non-Euclidean structure. While recent extensions to hyperbolic…

Transformers have improved the state-of-the-art across numerous tasks in sequence modeling. Besides the quadratic computational and memory complexity w.r.t the sequence length, the self-attention mechanism only processes information at the…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

Transformers have advanced the field of natural language processing (NLP) on a variety of important tasks. At the cornerstone of the Transformer architecture is the multi-head attention (MHA) mechanism which models pairwise interactions…

Vision-Language-Action (VLA) models rely on current observations, including images, language instructions, and robot states, to predict actions and complete tasks. While accurate visual perception is crucial for precise action prediction…

We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Object-centric learning emphasizes task-relevant objects and…

Despite their strong performance in embodied tasks, recent Vision-Language-Action (VLA) models remain highly fragile under multimodal perturbations, where visual corruption and linguistic noise jointly induce distribution shifts that…

Parameter-Efficient Fine-Tuning (PEFT) methods, especially LoRA, are widely used for adapting pre-trained models to downstream tasks due to their computational and storage efficiency. However, in the context of LoRA and its variants, the…

Understanding dynamics from visual observations is a challenging problem that requires disentangling individual objects from the scene and learning their interactions. While recent object-centric models can successfully decompose a scene…

Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…

Vision-Language-Action (VLA) models pre-trained on large, diverse datasets show remarkable potential for general-purpose robotic manipulation. However, a primary bottleneck remains in adapting these models to downstream tasks, especially…

Initially introduced as a machine translation model, the Transformer architecture has now become the foundation for modern deep learning architecture, with applications in a wide range of fields, from computer vision to natural language…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robot manipulation by unifying perception and action. However, existing VLA systems primarily rely on textual instructions and struggle to resolve spatial…

The ability to model intra-modal and inter-modal interactions is fundamental in multimodal machine learning. The current state-of-the-art models usually adopt deep learning models with fixed structures. They can achieve exceptional…

Deep learning has been widely adopted for human activity recognition (HAR) while generalizing a trained model across diverse users and scenarios remains challenging due to distribution shifts. The inherent low-resource challenge in HAR,…

Vision-Language-Action (VLA) models have demonstrated strong performance across a wide range of robotic manipulation tasks. Despite the success, extending large pretrained Vision-Language Models (VLMs) to the action space can induce…

Vision-Language Models (VLMs) based on Mixture-of-Experts (MoE) architectures have emerged as a pivotal paradigm in multimodal understanding, offering a powerful framework for integrating visual and linguistic information. However, the…