相关论文: ViT-VS: On the Applicability of Pretrained Vision …

This paper investigates two techniques for developing efficient self-supervised vision transformers (EsViT) for visual representation learning. First, we show through a comprehensive empirical study that multi-stage architectures with…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

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…

Vision transformers (ViT) have demonstrated impressive performance across various machine vision problems. These models are based on multi-head self-attention mechanisms that can flexibly attend to a sequence of image patches to encode…

Transformers are remarkably versatile, suggesting the existence of generic inductive biases beneficial across modalities. In this work, we explore a new way to instil such biases in vision transformers (ViTs) through pretraining on…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

Convolutional Neural Networks (CNNs) have reigned for a decade as the de facto approach to automated medical image diagnosis, pushing the state-of-the-art in classification, detection and segmentation tasks. Over the last years, vision…

Advances in deep learning are re-defining how visual data is processed and understand by the machines. Vision Transformers (ViTs) have recently demonstrated prominent performance in computer vision related tasks. However, their performance…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

Natural language instructions for visual navigation often use scene descriptions (e.g., "bedroom") and object references (e.g., "green chairs") to provide a breadcrumb trail to a goal location. This work presents a transformer-based…

Recently, plain vision Transformers (ViTs) have shown impressive performance on various computer vision tasks, thanks to their strong modeling capacity and large-scale pretraining. However, they have not yet conquered the problem of image…

Visual Transformers (VTs) are emerging as an architectural paradigm alternative to Convolutional networks (CNNs). Differently from CNNs, VTs can capture global relations between image elements and they potentially have a larger…

A surge of interest has emerged in utilizing Transformers in diverse vision tasks owing to its formidable performance. However, existing approaches primarily focus on optimizing internal model architecture designs that often entail…

This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…

This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…