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

Vision-transformers (ViTs) and large-scale convolution-neural-networks (CNNs) have reshaped computer vision through pretrained feature representations that enable strong transfer learning for diverse tasks. However, their efficiency as…

Recent advances in self-supervised learning (SSL) have made it possible to learn general-purpose visual features that capture both the high-level semantics and the fine-grained spatial structure of images. Most notably, the recent DINOv2…

The integration of deep learning systems into healthcare has been hindered by the resource-intensive process of data annotation and the inability of these systems to generalize to different data distributions. Foundation models, which are…

Fine-tuning Diffusion Models remains an underexplored frontier in generative artificial intelligence (GenAI), especially when compared with the remarkable progress made in fine-tuning Large Language Models (LLMs). While cutting-edge…

While autoregressive Large Vision-Language Models (VLMs) have achieved remarkable success, their sequential generation often limits their efficacy in complex visual planning and dynamic robotic control. In this work, we investigate the…

Deep learning-based automatic medical image segmentation plays a critical role in clinical diagnosis and treatment planning but remains challenging in few-shot scenarios due to the scarcity of annotated training data. Recently,…

Video Frame Interpolation (VFI) remains a cornerstone in video enhancement, enabling temporal upscaling for tasks like slow-motion rendering, frame rate conversion, and video restoration. While classical methods rely on optical flow and…

Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…

Purpose: This study provides the first comprehensive evaluation of foundation models in fetal ultrasound (US) imaging under low inter-class variability conditions. While recent vision foundation models such as DINOv3 have shown remarkable…

The growing interest in novel view synthesis, driven by Neural Radiance Field (NeRF) models, is hindered by scalability issues due to their reliance on precisely annotated multi-view images. Recent models address this by fine-tuning large…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

Diffusion models have shown exceptional performance in visual generation tasks. Recently, these models have shifted from traditional U-Shaped CNN-Attention hybrid structures to fully transformer-based isotropic architectures. While these…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Recent advances in robot imitation learning have yielded powerful visuomotor policies capable of manipulating a wide variety of objects directly from monocular visual inputs. However, monocular observations inherently lack reliable depth…

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Without using explicit reward, direct preference optimization (DPO) employs paired human preference data to fine-tune generative models, a method that has garnered considerable attention in large language models (LLMs). However, exploration…

Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to complex, interaction-rich manipulation tasks is harder…

Frozen pretrained models have become a viable alternative to the pretraining-then-finetuning paradigm for transfer learning. However, with frozen models there are relatively few parameters available for adapting to downstream tasks, which…

Diffusion policies have shown impressive results in robot imitation learning, even for tasks that require satisfaction of kinematic equality constraints. However, task performance alone is not a reliable indicator of the policy's ability to…