相关论文: CLTP: Contrastive Language-Tactile Pre-training fo…

Contrastive Language-Image Pre-training (CLIP) has shown impressive performance in aligning visual and textual representations. Recent studies have extended this paradigm to 3D vision to improve scene understanding for autonomous driving. A…

Recently, zero-shot and few-shot learning via Contrastive Vision-Language Pre-training (CLIP) have shown inspirational performance on 2D visual recognition, which learns to match images with their corresponding texts in open-vocabulary…

D scene graphs are an emerging 3D scene representation, that models both the objects present in the scene as well as their relationships. However, learning 3D scene graphs is a challenging task because it requires not only object labels but…

Multimodal Large Language Models (MLLMs) demonstrate exceptional semantic reasoning but struggle with 3D spatial perception when restricted to pure RGB inputs. Despite leveraging implicit geometric priors from 3D reconstruction models,…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

With the rapid advancement of artificial intelligence and robotics, the integration of Large Language Models (LLMs) with 3D vision is emerging as a transformative approach to enhancing robotic sensing technologies. This convergence enables…

Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…

This paper introduces ACTLLM (Action Consistency Tuned Large Language Model), a novel approach for robot manipulation in dynamic environments. Traditional vision-based systems often struggle to learn visual representations that excel in…

Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…

Large-scale pre-trained models have shown promising open-world performance for both vision and language tasks. However, their transferred capacity on 3D point clouds is still limited and only constrained to the classification task. In this…

Pre-Trained Vision-Language Models (VL-PTMs) have shown promising capabilities in grounding natural language in image data, facilitating a broad variety of cross-modal tasks. However, we note that there exists a significant gap between the…

The scale and quality of point cloud datasets constrain the advancement of point cloud learning. Recently, with the development of multi-modal learning, the incorporation of domain-agnostic prior knowledge from other modalities, such as…

Methods based on Contrastive Language-Image Pre-training (CLIP) are nowadays extensively used in support of vision-and-language tasks involving remote sensing data, such as cross-modal retrieval. The adaptation of CLIP to this specific…

Large language models (LLMs) have emerged as powerful general-purpose interfaces for many machine learning problems. Recent work has adapted LLMs to generative visual tasks like image captioning, visual question answering, and visual chat,…

Touch is an important sensing modality for humans, but it has not yet been incorporated into a multimodal generative language model. This is partially due to the difficulty of obtaining natural language labels for tactile data and the…

Vision-and-language models (VLMs) have been increasingly explored in the medical domain, particularly following the success of CLIP in general domain. However, unlike the relatively straightforward pairing of 2D images and text, curating…

Training models to apply linguistic knowledge and visual concepts from 2D images to 3D world understanding is a promising direction that researchers have only recently started to explore. In this work, we design a novel 3D pre-training…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…

Video-Text Pre-training (VTP) aims to learn transferable representations for various downstream tasks from large-scale web videos. To date, almost all existing VTP methods are limited to retrieval-based downstream tasks, e.g., video…

Accurate 3D object detection is critical for autonomous driving, necessitating reliable, cost-effective sensors capable of operating in adverse weather conditions. Camera and millimeter-wave radar fusion has emerged as a promising solution;…