相关论文: Large Pre-Trained Models for Bimanual Manipulation…

Transformers have shown superior performance on various vision tasks. Their large receptive field endows Transformer models with higher representation power than their CNN counterparts. Nevertheless, simply enlarging the receptive field…

Vision transformers (ViTs) achieve remarkable performance on large datasets, but tend to perform worse than convolutional neural networks (CNNs) when trained from scratch on smaller datasets, possibly due to a lack of local inductive bias…

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…

Recent studies show that Vision Transformers(ViTs) exhibit strong robustness against various corruptions. Although this property is partly attributed to the self-attention mechanism, there is still a lack of systematic understanding. In…

Vision transformer (ViT) expands the success of transformer models from sequential data to images. The model decomposes an image into many smaller patches and arranges them into a sequence. Multi-head self-attentions are then applied to the…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

The favorable performance of Vision Transformers (ViTs) is often attributed to the multi-head self-attention (MSA). The MSA enables global interactions at each layer of a ViT model, which is a contrasting feature against Convolutional…

Pain is a serious and costly issue globally, but to be treated, it must first be detected. Vision transformers are a top-performing architecture in computer vision, with little research on their use for pain detection. In this paper, we…

Pre-trained LLMs that are further trained with image data perform well on vision-language tasks. While adding images during a second training phase effectively unlocks this capability, it is unclear how much of a gain or loss this two-step…

The goal of this paper is to improve the performance of pretrained Vision Transformer (ViT) models, particularly DINOv2, in image clustering task without requiring re-training or fine-tuning. As model size increases, high-norm artifacts…

Much of recent Deep Reinforcement Learning success is owed to the neural architecture's potential to learn and use effective internal representations of the world. While many current algorithms access a simulator to train with a large…

In this paper, we leverage self-supervised vision transformer models and their emergent semantic abilities to improve the generalization abilities of imitation learning policies. We introduce DVK, an imitation learning algorithm that…

Vision-Language-Action (VLA) models have shown remarkable progress in embodied tasks recently, but most methods process visual observations independently at each timestep. This history-agnostic design treats robot manipulation as a Markov…

In this paper, we introduce a pretrained audio-visual Transformer trained on more than 500k utterances from nearly 4000 celebrities from the VoxCeleb2 dataset for human behavior understanding. The model aims to capture and extract useful…

Performing general language-conditioned bimanual manipulation tasks is of great importance for many applications ranging from household service to industrial assembly. However, collecting bimanual manipulation data is expensive due to the…

Language and vision-language models have shown impressive performance across a wide range of tasks, but their internal mechanisms remain only partly understood. In this work, we study how individual attention heads in text-generative models…

Image inpainting, the process of restoring missing or corrupted regions of an image by reconstructing pixel information, has recently seen considerable advancements through deep learning-based approaches. In this paper, we introduce a novel…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

Humans naturally develop preferences for how manipulation tasks should be performed, which are often subtle, personal, and difficult to articulate. Although it is important for robots to account for these preferences to increase…

In the field of robotic manipulation, deep imitation learning is recognized as a promising approach for acquiring manipulation skills. Additionally, learning from diverse robot datasets is considered a viable method to achieve versatility…