相关论文: VEDIT: Latent Prediction Architecture For Procedur…

We present Video Pre-trained Transformer. VPT uses four SOTA encoder models from prior work to convert a video into a sequence of compact embeddings. Our backbone, based on a reference Flan-T5-11B architecture, learns a universal…

The abundance of instructional videos and their narrations over the Internet offers an exciting avenue for understanding procedural activities. In this work, we propose to learn video representation that encodes both action steps and their…

The objective of this paper is self-supervised learning of spatio-temporal embeddings from video, suitable for human action recognition. We make three contributions: First, we introduce the Dense Predictive Coding (DPC) framework for…

Imagining the future trajectory is the key for robots to make sound planning and successfully reach their goals. Therefore, text-conditioned video prediction (TVP) is an essential task to facilitate general robot policy learning. To tackle…

The ability to predict future visual observations conditioned on past observations and motor commands can enable embodied agents to plan solutions to a variety of tasks in complex environments. This work shows that we can create good video…

In this paper, we explore the visual representations produced from a pre-trained text-to-video (T2V) diffusion model for video understanding tasks. We hypothesize that the latent representation learned from a pretrained generative T2V model…

Self-supervised learning methods overcome the key bottleneck for building more capable AI: limited availability of labeled data. However, one of the drawbacks of self-supervised architectures is that the representations that they learn are…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

Understanding visual inputs for a given task amidst varied changes is a key challenge posed by visual reinforcement learning agents. We propose \textit{Value Explicit Pretraining} (VEP), a method that learns generalizable representations…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

We study pre-training representations for decision-making using video data, which is abundantly available for tasks such as game agents and software testing. Even though significant empirical advances have been made on this problem, a…

We propose a general way to integrate procedural knowledge of a domain into deep learning models. We apply it to the case of video prediction, building on top of object-centric deep models and show that this leads to a better performance…

Recent unsupervised pre-training methods have shown to be effective on language and vision domains by learning useful representations for multiple downstream tasks. In this paper, we investigate if such unsupervised pre-training methods can…

Pre-training on large-scale video data has become a common recipe for learning transferable spatiotemporal representations in recent years. Despite some progress, existing methods are mostly limited to highly curated datasets (e.g., K400)…

Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Transformers have gained increasing popularity in a wide range of applications, including Natural Language Processing (NLP), Computer Vision and Speech Recognition, because of their powerful representational capacity. However, harnessing…

Video Joint Embedding Predictive Architectures (V-JEPA) learn generalizable off-the-shelf video representation by predicting masked regions in latent space with an exponential moving average (EMA)-updated teacher. While EMA prevents…

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…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…