相关论文: Label-Efficient Grasp Joint Prediction with Point-…

In defense-related remote sensing applications, such as vehicle detection on satellite imagery, supervised learning requires a huge number of labeled examples to reach operational performances. Such data are challenging to obtain as it…

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing…

We present GraPPa, an effective pre-training approach for table semantic parsing that learns a compositional inductive bias in the joint representations of textual and tabular data. We construct synthetic question-SQL pairs over…

Controlling hand exoskeletons for assisting impaired patients in grasping tasks is challenging because it is difficult to infer user intent. We hypothesize that majority of daily grasping tasks fall into a small set of categories or modes…

Despite the recent advances in multi-task learning of dense prediction problems, most methods rely on expensive labelled datasets. In this paper, we present a label efficient approach and look at jointly learning of multiple dense…

Multi-modal representation learning by pretraining has become an increasing interest due to its easy-to-use and potential benefit for various Visual-and-Language~(V-L) tasks. However its requirement of large volume and high-quality…

In this paper, we present Sim-Grasp, a robust 6-DOF two-finger grasping system that integrates advanced language models for enhanced object manipulation in cluttered environments. We introduce the Sim-Grasp-Dataset, which includes 1,550…

Our way of grasping objects is challenging for efficient, intelligent and optimal grasp by COBOTs. To streamline the process, here we use deep learning techniques to help robots learn to generate and execute appropriate grasps quickly. We…

Vision-language pretraining has driven much of the recent progress in medical image representation learning, but this paradigm is constrained by the availability of paired image-text data and by the reporting bias of clinical narratives. We…

Self-supervised pre-training appears as an advantageous alternative to supervised pre-trained for transfer learning. By synthesizing annotations on pretext tasks, self-supervision allows to pre-train models on large amounts of pseudo-labels…

The deep learning models has significantly advanced dexterous manipulation techniques for multi-fingered hand grasping. However, the contact information-guided grasping in cluttered environments remains largely underexplored. To address…

Recently, both Contrastive Learning (CL) and Mask Image Modeling (MIM) demonstrate that self-supervision is powerful to learn good representations. However, naively combining them is far from success. In this paper, we start by making the…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

Single-cell foundation models learn by reconstructing masked gene expression, implicitly treating technical noise as signal. With dropout rates exceeding 90%, reconstruction objectives encourage models to encode measurement artifacts rather…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Manually annotating 3D point clouds is laborious and costly, limiting the training data preparation for deep learning in real-world object detection. While a few previous studies tried to automatically generate 3D bounding boxes from weak…

Language model pre-training has proven to be useful in many language understanding tasks. In this paper, we investigate whether it is still helpful to add the self-training method in the pre-training step and the fine-tuning step. Towards…

Accurately modeling and controlling vehicle exhaust emissions during transient events, such as rapid acceleration, is critical for meeting environmental regulations and optimizing powertrains. Conventional data-driven methods, such as…

Recently, the topic of table pre-training has attracted considerable research interest. However, how to employ table pre-training to boost the performance of tabular prediction remains an open challenge. In this paper, we propose TapTap,…

Recent breakthroughs in self-supervised Joint-Embedding Predictive Architectures (JEPAs) have established that regularizing Euclidean representations toward isotropic Gaussian priors yields provable gains in training stability and…