相关论文: LocoMamba: Vision-Driven Locomotion via End-to-End…

End-to-end reinforcement learning (RL) for motion control trains policies directly from sensor inputs to motor commands, enabling unified controllers for different robots and tasks. However, most existing methods are either blind…

Recent advancements in state space models, notably Mamba, have demonstrated significant progress in modeling long sequences for tasks like language understanding. Yet, their application in vision tasks has not markedly surpassed the…

A fundamental objective in robot manipulation is to enable models to comprehend visual scenes and execute actions. Although existing Vision-Language-Action (VLA) models for robots can handle a range of basic tasks, they still face…

Multimodal large language models (MLLMs) have attracted widespread interest and have rich applications. However, the inherent attention mechanism in its Transformer structure requires quadratic complexity and results in expensive…

The vision community has started to build with the recently developed state space model, Mamba, as the new backbone for a range of tasks. This paper shows that Mamba's visual capability can be significantly enhanced through autoregressive…

Recent works have shown the remarkable superiority of transformer models in reinforcement learning (RL), where the decision-making problem is formulated as sequential generation. Transformer-based agents could emerge with self-improvement…

We propose to address quadrupedal locomotion tasks using Reinforcement Learning (RL) with a Transformer-based model that learns to combine proprioceptive information and high-dimensional depth sensor inputs. While learning-based locomotion…

Mamba-based vision models have gained extensive attention as a result of being computationally more efficient than attention-based models. However, spatial redundancy still exists in these models, represented by token and block redundancy.…

Autonomous driving systems face significant challenges in perceiving complex environments and making real-time decisions. Traditional modular approaches, while offering interpretability, suffer from error propagation and coordination…

Recent advancements in State Space Models, notably Mamba, have demonstrated superior performance over the dominant Transformer models, particularly in reducing the computational complexity from quadratic to linear. Yet, difficulties in…

Addressing the dual challenges of local redundancy and global dependencies in video understanding, this work innovatively adapts the Mamba to the video domain. The proposed VideoMamba overcomes the limitations of existing 3D convolution…

State space models (SSMs) with selection mechanisms and hardware-aware architectures, namely Mamba, have recently demonstrated significant promise in long-sequence modeling. Since the self-attention mechanism in transformers has quadratic…

End-to-end reinforcement learning (RL) for humanoid locomotion is appealing for its compact perception-action mapping, yet practical policies often suffer from training instability, inefficient feature fusion, and high actuation cost. We…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…

Mamba, a State Space Model (SSM) that accelerates training by recasting recurrence as a parallel scan, has recently emerged as a linearly-scaling alternative to self-attention. Because of its unidirectional nature, each state in Mamba only…

Multimodal image fusion aims to integrate information from different imaging techniques to produce a comprehensive, detail-rich single image for downstream vision tasks. Existing methods based on local convolutional neural networks (CNNs)…

3D object detection is critical for autonomous driving, yet it remains fundamentally challenging to simultaneously maximize computational efficiency and capture long-range spatial dependencies. We observed that Mamba-based models, with…

Mamba, a recent selective structured state space model, excels in long sequence modeling, which is vital in the large model era. Long sequence modeling poses significant challenges, including capturing long-range dependencies within the…

We introduce VideoMamba, a novel adaptation of the pure Mamba architecture, specifically designed for video recognition. Unlike transformers that rely on self-attention mechanisms leading to high computational costs by quadratic complexity,…

Mamba has recently garnered attention as an effective backbone for vision tasks. However, its underlying mechanism in visual domains remains poorly understood. In this work, we systematically investigate Mamba's representational properties…