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

Learning is the basis of both biological and artificial systems when it comes to mimicking intelligent behaviors. From the classical PPO (Proximal Policy Optimization), there is a series of deep reinforcement learning algorithms which are…

General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…

Multimodal pretraining is an effective strategy for the trinity of goals of representation learning in autonomous robots: 1) extracting both local and global task progressions; 2) enforcing temporal consistency of visual representation; 3)…

Vision-Language Models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor policies that remain opaque and difficult to…

We present SWIM (See What I Mean), a novel training strategy that aligns vision and language representations to enable fine-grained object understanding solely from textual prompts. Unlike existing approaches that require explicit visual…

The past year has witnessed a rapid development of masked image modeling (MIM). MIM is mostly built upon the vision transformers, which suggests that self-supervised visual representations can be done by masking input image parts while…

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

While deep learning, including Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs), has significantly advanced classification performance, its typical reliance on extensive annotated datasets presents a major obstacle in…

A central goal in AI is to represent scenes as compositions of discrete objects, enabling fine-grained, controllable image and video generation. Yet leading diffusion models treat images holistically and rely on text conditioning, creating…

Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Despite significant recent progress, machine vision systems lag considerably behind their biological counterparts in performance, scalability, and robustness. A distinctive hallmark of the brain is its ability to automatically discover and…

The ability to decompose complex natural scenes into meaningful object-centric abstractions lies at the core of human perception and reasoning. In the recent culmination of unsupervised object-centric learning, the Slot-Attention module has…

High-dimensional time series are common in many domains. Since human cognition is not optimized to work well in high-dimensional spaces, these areas could benefit from interpretable low-dimensional representations. However, most…

While learning visuomotor skills in an end-to-end manner is appealing, deep neural networks are often uninterpretable and fail in surprising ways. For robotics tasks, such as autonomous driving, models that explicitly represent objects may…

Since the development of self-supervised visual representation learning from contrastive learning to masked image modeling (MIM), there is no significant difference in essence, that is, how to design proper pretext tasks for vision…

Object-centric representation learning has recently been successfully applied to real-world datasets. This success can be attributed to pretrained non-object-centric foundation models, whose features serve as reconstruction targets for slot…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…