相关论文: Pre-Manipulation Alignment Prediction with Paralle…

Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

Multimodal learning, which involves integrating information from various modalities such as text, images, audio, and video, is pivotal for numerous complex tasks like visual question answering, cross-modal retrieval, and caption generation.…

Metasurfaces have provided a novel and promising platform for the realization of compact and large-scale optical devices. The conventional metasurface design approach assumes periodic boundary conditions for each element, which is…

Multimodality Representation Learning, as a technique of learning to embed information from different modalities and their correlations, has achieved remarkable success on a variety of applications, such as Visual Question Answering (VQA),…

Existing research studies on vision and language grounding for robot navigation focus on improving model-free deep reinforcement learning (DRL) models in synthetic environments. However, model-free DRL models do not consider the dynamics in…

Open-vocabulary semantic segmentation attempts to classify and outline objects in an image using arbitrary text labels, including those unseen during training. Self-supervised learning resolves numerous visual and linguistic processing…

Understanding and forecasting future scene states is critical for autonomous agents to plan and act effectively in complex environments. Object-centric models, with structured latent spaces, have shown promise in modeling object dynamics…

Flight trajectory prediction is a critical time series task in aviation. While deep learning methods have shown significant promise, the application of large language models (LLMs) to this domain remains underexplored. This study pioneers…

Previous vision-language pre-training models mainly construct multi-modal inputs with tokens and objects (pixels) followed by performing cross-modality interaction between them. We argue that the input of only tokens and object features…

Anticipating future actions is a highly challenging task due to the diversity and scale of potential future actions; yet, information from different modalities help narrow down plausible action choices. Each modality can provide diverse and…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

Foundation models in healthcare have largely adopted self supervised pretraining objectives inherited from natural language processing and computer vision, emphasizing reconstruction and large scale representation learning prior to…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

Multitarget Tracking (MTT) is the problem of tracking the states of an unknown number of objects using noisy measurements, with important applications to autonomous driving, surveillance, robotics, and others. In the model-based Bayesian…

Language Generation Models produce words based on the previous context. Although existing methods offer input attributions as explanations for a model's prediction, it is still unclear how prior words affect the model's decision throughout…