相关论文: A Data-Centric Revisit of Pre-Trained Vision Model…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

The reliance on large-scale datasets and extensive computational resources has become a major barrier to advancing representation learning in vision, especially in data-scarce domains. In this paper, we address the critical question: Can we…

Pretrained Vision Transformers (ViTs) such as DINOv2 and MAE provide generic image features that can be applied to a variety of downstream tasks such as retrieval, classification, and segmentation. However, such representations tend to…

With the rise of multimodal applications, instruction data has become critical for training multimodal language models capable of understanding complex image-based queries. Existing practices rely on powerful but costly large language…

Object-centric learning aims to break down complex visual scenes into more manageable object representations, enhancing the understanding and reasoning abilities of machine learning systems toward the physical world. Recently, slot-based…

Joint-embedding based learning (e.g., SimCLR, MoCo, DINO) and reconstruction-based learning (e.g., BEiT, SimMIM, MAE) are the two leading paradigms for self-supervised learning of vision transformers, but they differ substantially in their…

Pretrained video generation models provide strong priors for robot control, but existing unified world action models still struggle to decode reliable actions without substantial robot-specific training. We attribute this limitation to a…

Masked image modeling (MIM) as pre-training is shown to be effective for numerous vision downstream tasks, but how and where MIM works remain unclear. In this paper, we compare MIM with the long-dominant supervised pre-trained models from…

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…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Humans develop visual intelligence through perceiving and interacting with their environment - a self-supervised learning process grounded in egocentric experience. Inspired by this, we ask how can artificial systems learn stable object…

Masked image modeling (MIM) has emerged as a promising approach for pre-training Vision Transformers (ViTs). MIMs predict masked tokens token-wise to recover target signals that are tokenized from images or generated by pre-trained models…

The visual world can be parsimoniously characterized in terms of distinct entities with sparse interactions. Discovering this compositional structure in dynamic visual scenes has proven challenging for end-to-end computer vision approaches…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodiment gap. During manipulation, humans actively coordinate…

Unsupervised object discovery is becoming an essential line of research for tackling recognition problems that require decomposing an image into entities, such as semantic segmentation and object detection. Recently, object-centric methods…

This paper addresses key challenges in object-centric representation learning of video. While existing approaches struggle with complex scenes, we propose a novel weakly-supervised framework that emphasises geometric understanding and…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Vision Transformers (ViTs) dominate self-supervised learning (SSL). While they have proven highly effective for large-scale pretraining, they are computationally inefficient and scale poorly with image size. Consequently, foundational…

Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We present a systematic study quantifying the performance gains, scaling behavior, and underlying mechanisms of multi-view data for…