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

Unsupervised representation learning algorithms such as word2vec and ELMo improve the accuracy of many supervised NLP models, mainly because they can take advantage of large amounts of unlabeled text. However, the supervised models only…

Transfer learning represents a recent paradigm shift in the way we build artificial intelligence (AI) systems. In contrast to training task-specific models, transfer learning involves pre-training deep learning models on a large corpus of…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in foundation models, particularly Vision Language Models (VLMs), have demonstrated remarkable…

Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and…

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…

Today's most advanced vision-language models (VLMs) remain proprietary. The strongest open-weight models rely heavily on synthetic data from proprietary VLMs to achieve good performance, effectively distilling these closed VLMs into open…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

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…

Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily occluded. Recent vision-language-action (VLA) models have…

Supervised (pre-)training currently yields state-of-the-art performance for representation learning for visual recognition, yet it comes at the cost of (1) intensive manual annotations and (2) an inherent restriction in the scope of data…

Object-centric representations enable autonomous driving algorithms to reason about interactions between many independent agents and scene features. Traditionally these representations have been obtained via supervised learning, but this…

Many models of visual attention have been proposed so far. Traditional bottom-up models, like saliency models, fail to replicate human gaze patterns, and deep gaze prediction models lack biological plausibility due to their reliance on…

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…

Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…

There have recently been large advances both in pre-training visual representations for robotic control and segmenting unknown category objects in general images. To leverage these for improved robot learning, we propose $\textbf{POCR}$, a…

Despite the growing prevalence of black-box pre-trained models (PTMs) such as prediction API services, there remains a significant challenge in directly applying general models to real-world scenarios due to the data distribution gap.…

Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable…

Like masked language modeling (MLM) in natural language processing, masked image modeling (MIM) aims to extract valuable insights from image patches to enhance the feature extraction capabilities of the underlying deep neural network (DNN).…