相关论文: VLM-SFD: VLM-Assisted Siamese Flow Diffusion Frame…

Self-supervised vision-and-language pretraining (VLP) aims to learn transferable multi-modal representations from large-scale image-text data and to achieve strong performances on a broad scope of vision-language tasks after finetuning.…

Recent progress in vision language foundation models has shown their ability to understand multimodal data and resolve complicated vision language tasks, including robotics manipulation. We seek a straightforward way of making use of…

Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiments. Existing approaches face a dilemma: imitation policy…

In this paper, we propose a novel approach for coupling 2D/1D shallow water flow models. Efficiently coupling these models is vital for simulating the flow and flooding of open channels. Currently, existing methods couple the models either…

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…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Text-conditioned diffusion models have emerged as a promising tool for neural video generation. However, current models still struggle with intricate spatiotemporal prompts and often generate restricted or incorrect motion. To address these…

Visual SLAM is particularly challenging in environments affected by noise, varying lighting conditions, and darkness. Learning-based optical flow algorithms can leverage multiple modalities to address these challenges, but traditional…

High complexity in precoding design for frequency division duplex systems necessitates streamlined solutions. Guided by Synesthesia of Machines (SoM), this paper introduces a heterogeneous multi-vehicle, multi-modal sensing aided precoding…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

In high-stakes domains, small task-specific vision models are crucial due to their low computational requirements and the availability of numerous methods to explain their results. However, these explanations often reveal that the models do…

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods…

Computational fluid dynamics (CFD) provides high-fidelity simulations of fluid flows but remains computationally expensive for many-query applications. In recent years deep learning (DL) has been used to construct data-driven fluid-dynamic…

In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's decision-making. To address these challenges, commencing with the representation of state-action mapping in the…

Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate representation often needs a tradeoff between…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

Diffusion-based visuomotor policies excel at learning complex robotic tasks by effectively combining visual data with high-dimensional, multi-modal action distributions. However, diffusion models often suffer from slow inference due to…

We introduce FLAG-4D, a novel framework for generating novel views of dynamic scenes by reconstructing how 3D Gaussian primitives evolve through space and time. Existing methods typically rely on a single Multilayer Perceptron (MLP) to…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…