相关论文: DINOv3-Diffusion Policy: Self-Supervised Large Vis…

We are witnessing a modeling shift from CNN to Transformers in computer vision. In this work, we present a self-supervised learning approach called MoBY, with Vision Transformers as its backbone architecture. The approach basically has no…

Many recent Vision-Language-Action models employ diffusion or flow-matching backbones with hundreds of millions of parameters for action generation. However, unlike image synthesis where the output spans millions of diverse pixels, a…

In recent years, large-scale pre-trained diffusion models have demonstrated their outstanding capabilities in image and video generation tasks. However, existing models tend to produce visual objects commonly found in the training dataset,…

If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don't guarantee such generalization. Our insight is to add…

Mental rotation is a key test of spatial reasoning in humans and has been central to understanding how perception supports cognition. Despite the success of modern vision transformers, it is still unclear how well these models develop…

The remote sensing (RS) domain suffers from a lack of densely labeled datasets, which are costly to obtain. Thus, models that can segment RS imagery well without supervised fine-tuning are valuable, but existing solutions fall behind…

Face recognition systems are increasingly used in biometric security for convenience and effectiveness. However, they remain vulnerable to spoofing attacks, where attackers use photos, videos, or masks to impersonate legitimate users. This…

Recently, 3D vision-based diffusion policies have shown strong capability in learning complex robotic manipulation skills. However, a common architectural mismatch exists in these models: a tiny yet efficient point-cloud encoder is often…

Recent large vision-language-action models pretrained on diverse robot datasets have demonstrated the potential for generalizing to new environments with a few in-domain data. However, those approaches usually predict individual discretized…

Frozen pretrained image representations are widely used for transfer learning: a backbone is kept fixed, feature vectors are extracted, and a lightweight classifier is trained on top. This pipeline usually feeds the full feature vector to…

Video models have recently been applied with success to problems in content generation, novel view synthesis, and, more broadly, world simulation. Many applications in generation and transfer rely on conditioning these models, typically…

In this paper, we introduce a self-supervised deep SLAM method that robustly operates in dynamic scenes while accurately identifying dynamic components. Our method leverages a dual-flow representation for static flow and dynamic flow,…

Diffusion-based visuomotor policies excel at modeling action distributions but are inference-inefficient, since recursively denoising from noise to policy requires many steps and heavy UNet backbones, which hinders deployment on…

The DINO family of self-supervised vision models has shown remarkable transferability, yet effectively adapting their representations for segmentation remains challenging. Existing approaches often rely on heavy decoders with multi-scale…

Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Many robotic systems, such as mobile manipulators or quadrotors, cannot be equipped with high-end GPUs due to space, weight, and power constraints. These constraints prevent these systems from leveraging recent developments in visuomotor…

Needle picking is a challenging manipulation task in robot-assisted surgery due to the characteristics of small slender shapes of needles, needles' variations in shapes and sizes, and demands for millimeter-level control. Prior works,…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

Training AI models to understand images without costly labeled data remains a challenge. We combine two techniques--DINO (teacher-student learning) and Barlow Twins (redundancy reduction)--to create a model that learns better with fewer…