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

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

This paper investigates robot manipulation based on human instruction with ambiguous requests. The intent is to compensate for imperfect natural language via visual observations. Early symbolic methods, based on manually defined symbols,…

In recent years, deep learning has made remarkable progress in a wide range of domains, with a particularly notable impact on natural language processing tasks. One of the challenges associated with training deep neural networks in the…

Pre-trained language models based on general text enable huge success in the NLP scenario. But the intrinsical difference of linguistic patterns between general text and task-oriented dialogues makes existing pre-trained language models…

Language models are essential for natural language processing (NLP) tasks, such as machine translation and text summarization. Remarkable performance has been demonstrated recently across many NLP domains via a Transformer-based language…

The Transformer model has achieved state-of-the-art performance in many sequence modeling tasks. However, how to leverage model capacity with large or variable depths is still an open challenge. We present a probabilistic framework to…

Deep neural networks for time series must capture complex temporal patterns, to effectively represent dynamic data. Self- and semi-supervised learning methods show promising results in pre-training large models, which -- when finetuned for…

Robotic manipulation is often specified through language instructions or task identifiers, yet cluttered environments with similar objects are better handled by spatially indicating what to move and where to place it. Addressing the…

For autonomous agents to successfully operate in the real world, anticipation of future events and states of their environment is a key competence. This problem can be formalized as a sequence prediction problem, where a number of…

Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints. Existing methods typically rely on one-stage trajectory prediction models, which condition…

We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the…

While the pursuit of higher accuracy in deepfake detection remains a central goal, there is an increasing demand for precise localization of manipulated regions. Despite the remarkable progress made in classification-based detection,…

Trajectory prediction is crucial to advance autonomous driving, improving safety, and efficiency. Although end-to-end models based on deep learning have great potential, they often do not consider vehicle dynamic limitations, leading to…

This paper addresses the problem of end-to-end self-supervised forecasting of depth and ego motion. Given a sequence of raw images, the aim is to forecast both the geometry and ego-motion using a self supervised photometric loss. The…

Recent advancements in vision-language models have achieved remarkable results in making language models understand vision inputs. However, a unified approach to align these models across diverse tasks such as image captioning and visual…

Self-supervised monocular depth estimation aims to infer depth information without relying on labeled data. However, the lack of labeled information poses a significant challenge to the model's representation, limiting its ability to…

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…

The objective of this paper is to design novel multi-layer neural network architectures for multiscale simulations of flows taking into account the observed data and physical modeling concepts. Our approaches use deep learning concepts…

A crucial capability of real-world intelligent agents is their ability to plan a sequence of actions to achieve their goals in the visual world. In this work, we address the problem of visual semantic planning: the task of predicting a…

The development of large language models leads to the formation of a pre-train-then-align paradigm, in which the model is typically pre-trained on a large text corpus and undergoes a tuning stage to align the model with human preference or…