相关论文: MCRL4OR: Multimodal Contrastive Representation Lea…

Multi-modal contrastive learning as a self-supervised representation learning technique has achieved great success in foundation model training, such as CLIP~\citep{radford2021learning}. In this paper, we study the theoretical properties of…

Multimodal learning from document data has achieved great success lately as it allows to pre-train semantically meaningful features as a prior into a learnable downstream task. In this paper, we approach the document classification problem…

Multiple modalities for certain information provide a variety of perspectives on that information, which can improve the understanding of the information. Thus, it may be crucial to generate data of different modality from the existing data…

Offline reinforcement learning proposes to learn policies from large collected datasets without interacting with the physical environment. These algorithms have made it possible to learn useful skills from data that can then be deployed in…

We present a multimodal traffic light state detection using vision and sound, from the viewpoint of a quadruped robot navigating in urban settings. This is a challenging problem because of the visual occlusions and noise from robot…

Learning visual representations of medical images (e.g., X-rays) is core to medical image understanding but its progress has been held back by the scarcity of human annotations. Existing work commonly relies on fine-tuning weights…

Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…

Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates omnidirectional terrain sensing and a controller capable of…

Dynamics modeling in outdoor and unstructured environments is difficult because different elements in the environment interact with the robot in ways that can be hard to predict. Leveraging multiple sensors to perceive maximal information…

Multimodal learning often encounters the under-optimized problem and may perform worse than unimodal learning. Existing approaches attribute this issue to imbalanced learning across modalities and tend to address it through gradient…

We provide a sober look at the application of Multimodal Large Language Models (MLLMs) in autonomous driving, challenging common assumptions about their ability to interpret dynamic driving scenarios. Despite advances in models like GPT-4o,…

In reinforcement learning (RL), it is easier to solve a task if given a good representation. While deep RL should automatically acquire such good representations, prior work often finds that learning representations in an end-to-end fashion…

The rise of multi-modal search requests from users has highlighted the importance of multi-modal retrieval (i.e. image-to-text or text-to-image retrieval), yet the more complex task of image-to-multi-modal retrieval, crucial for many…

Efficient traffic control (TSC) is essential for urban mobility, but traditional systems struggle to handle the complexity of real-world traffic. Multi-agent Reinforcement Learning (MARL) offers adaptive solutions, but online MARL requires…

Continuous state spaces and stochastic, switching dynamics characterize a number of rich, realworld domains, such as robot navigation across varying terrain. We describe a reinforcementlearning algorithm for learning in these domains and…

Discriminative representation is crucial for the association step in multi-object tracking. Recent work mainly utilizes features in single or neighboring frames for constructing metric loss and empowering networks to extract representation…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Multimodal representation learning seeks to create a unified representation space by integrating diverse data modalities to improve multimodal understanding. Traditional methods often depend on pairwise contrastive learning, which relies on…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…