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

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

Vision Transformers (ViTs) have shown competitive accuracy in image classification tasks compared with CNNs. Yet, they generally require much more data for model pre-training. Most of recent works thus are dedicated to designing more…

Intrigued by the inherent ability of the human visual system to identify salient regions in complex scenes, attention mechanisms have been seamlessly integrated into various Computer Vision (CV) tasks. Building upon this paradigm, Vision…

This paper evaluates DINOv3, a recent large-scale self-supervised vision backbone, for visuomotor diffusion policy learning in robotic manipulation. We investigate whether a purely self-supervised encoder can match or surpass conventional…

Recently, the vision transformer (ViT) has made breakthroughs in image recognition. Its self-attention mechanism (MSA) can extract discriminative labeling information of different pixel blocks to improve image classification accuracy.…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

Vision Transformers (ViTs) have recently taken computer vision by storm. However, the softmax attention underlying ViTs comes with a quadratic complexity in time and memory, hindering the application of ViTs to high-resolution images. We…

There has recently been significant interest in training reinforcement learning (RL) agents in vision-based environments. This poses many challenges, such as high dimensionality and the potential for observational overfitting through…

The recent breakthroughs in natural language processing for model pretraining on large quantities of data have opened the way for similar foundation models in computer vision. These models could greatly simplify the use of images in any…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

Vision Transformers (ViTs) have shown strong empirical performance on high-dimensional medical imaging data, yet their behavior under survival objectives and the interpretability of their attention mechanisms remain poorly understood. Under…

In recent years, much progress has been made in learning robotic manipulation policies that follow natural language instructions. Such methods typically learn from corpora of robot-language data that was either collected with specific tasks…

Vision Transformers implement multi-head self-attention via stacking multiple attention blocks. The query, key, and value are often intertwined and generated within those blocks via a single, shared linear transformation. This paper…

Vision transformers (ViTs) quantization offers a promising prospect to facilitate deploying large pre-trained networks on resource-limited devices. Fully-binarized ViTs (Bi-ViT) that pushes the quantization of ViTs to its limit remain…

Although Vision Transformers (ViTs) have recently demonstrated superior performance in medical imaging problems, they face explainability issues similar to previous architectures such as convolutional neural networks. Recent research…

Bimanual dexterous manipulation remains significant challenges in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but…

Transformers have revolutionized vision and natural language processing with their ability to scale with large datasets. But in robotic manipulation, data is both limited and expensive. Can manipulation still benefit from Transformers with…

We propose an end-to-end-trainable attention module for convolutional neural network (CNN) architectures built for image classification. The module takes as input the 2D feature vector maps which form the intermediate representations of the…

Most modern deep learning-based multi-view 3D reconstruction techniques use RNNs or fusion modules to combine information from multiple images after independently encoding them. These two separate steps have loose connections and do not…