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

Generating 3D models from multi-view 2D RGB images has gained significant attention, extending the capabilities of technologies like Virtual Reality, Robotic Vision, and human-machine interaction. In this paper, we introduce a hybrid…

As Vision Transformers (ViTs) are increasingly adopted in sensitive vision applications, there is a growing demand for improved interpretability. This has led to efforts to forward-align these models with carefully annotated abstract,…

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…

The understanding of where humans look in a scene is a problem of great interest in visual perception and computer vision. When eye-tracking devices are not a viable option, models of human attention can be used to predict fixations. In…

A detailed environment representation is a crucial component of automated vehicles. Using single range sensor scans, data is often too sparse and subject to occlusions. Therefore, we present a method to augment occupancy grid maps from…

The recently proposed data augmentation TransMix employs attention labels to help visual transformers (ViT) achieve better robustness and performance. However, TransMix is deficient in two aspects: 1) The image cropping method of TransMix…

We introduce DinoLizer, a DINOv2-based model for localizing manipulated regions in generative inpainting. Our method builds on a DINOv2 model pretrained to detect synthetic images on the B-Free dataset. We add a linear classification head…

Pretrained Vision Transformers (ViTs) such as DINOv2 and MAE provide generic image features that can be applied to a variety of downstream tasks such as retrieval, classification, and segmentation. However, such representations tend to…

The Vision Transformer (ViT) architecture has become widely recognized in computer vision, leveraging its self-attention mechanism to achieve remarkable success across various tasks. Despite its strengths, ViT's optimization remains…

We address the challenging problem of learning motion representations using deep models for video recognition. To this end, we make use of attention modules that learn to highlight regions in the video and aggregate features for…

The features of self-supervised vision transformers (ViTs) contain strong semantic and positional information relevant to downstream tasks like object localization and segmentation. Recent works combine these features with traditional…

In class incremental learning (CIL) setting, groups of classes are introduced to a model in each learning phase. The goal is to learn a unified model performant on all the classes observed so far. Given the recent popularity of Vision…

Recent advances in computer vision have made it possible to automatically assess from videos the manipulation skills of humans in performing a task, which breeds many important applications in domains such as health rehabilitation and…

Vision transformers using self-attention or its proposed alternatives have demonstrated promising results in many image related tasks. However, the underpinning inductive bias of attention is not well understood. To address this issue, this…

Driving in a complex urban environment is a difficult task that requires a complex decision policy. In order to make informed decisions, one needs to gain an understanding of the long-range context and the importance of other vehicles. In…

Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…

Human vision achieves remarkable perceptual performance while operating under strict metabolic constraints. A key ingredient is the selective attention mechanism, driven by rapid saccadic eye movements that constantly reposition the…

Vision Transformers (ViTs) have achieved state-of-the-art results on various computer vision tasks, including 3D object detection. However, their end-to-end implementation also makes ViTs less explainable, which can be a challenge for…

We present an open-source tool for visualizing multi-head self-attention in Transformer-based language representation models. The tool extends earlier work by visualizing attention at three levels of granularity: the attention-head level,…

Vision-language-action models (VLAs) trained on large-scale robotic datasets have demonstrated strong performance on manipulation tasks, including bimanual tasks. However, because most public datasets focus on single-arm demonstrations,…