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

Vision transformers have established a precedent of patchifying images into uniformly-sized chunks before processing. We hypothesize that this design choice may limit models in learning comprehensive and compositional representations from…

Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation methods map 2D image observations directly to 3D action outputs, imposing a 2D-3D mismatch that hinders spatial reasoning and degrades…

Deep reinforcement learning (RL) algorithms are powerful tools for solving visuomotor decision tasks. However, the trained models are often difficult to interpret, because they are represented as end-to-end deep neural networks. In this…

Self-attention networks have shown remarkable progress in computer vision tasks such as image classification. The main benefit of the self-attention mechanism is the ability to capture long-range feature interactions in attention-maps.…

Visual prompting infuses visual information into the input image to adapt models toward specific predictions and tasks. Recently, manually crafted markers such as red circles are shown to guide the model to attend to a target region on the…

Visuomotor policies often leverage large pre-trained Vision Transformers (ViTs) for their powerful generalization capabilities. However, their significant data requirements present a major challenge in the data-scarce context of most…

Manipulation tasks in daily life, such as pouring water, unfold intentionally under specialized manipulation contexts. Being able to process contextual knowledge in these Activities of Daily Living (ADLs) over time can help us understand…

Attention-based beamformers have recently been shown to be effective for multi-channel speech recognition. However, they are less capable at capturing local information. In this work, we propose a 2D Conv-Attention module which combines…

In robot learning, Vision Transformers (ViTs) are standard for visual perception, yet most methods discard valuable information by using only the final layer's features. We argue this provides an insufficient representation and propose the…

We present an attention based visual analysis framework to compute grasp-relevant information in order to guide grasp planning using a multi-fingered robotic hand. Our approach uses a computational visual attention model to locate regions…

Existing Vehicle-to-Everything (V2X) cooperative perception methods rely on accurate multi-agent 3D annotations. Nevertheless, it is time-consuming and expensive to collect and annotate real-world data, especially for V2X systems. In this…

In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…

Recent works have shown that large models pretrained on common visual learning tasks can provide useful representations for a wide range of specialized perception problems, as well as a variety of robotic manipulation tasks. While prior…

With the development of the self-attention mechanism, the Transformer model has demonstrated its outstanding performance in the computer vision domain. However, the massive computation brought from the full attention mechanism became a…

Tactile information is a critical tool for dexterous manipulation. As humans, we rely heavily on tactile information to understand objects in our environments and how to interact with them. We use touch not only to perform manipulation…

Various Vision Transformer (ViT) models have been widely used for image recognition tasks. However, existing visual explanation methods can not display the attention flow hidden inside the inner structure of ViT models, which explains how…

Drawing on recent breakthroughs in cellular neurobiology and detailed biophysical modeling linking neocortical pyramidal neurons to distinct mental-state regimes, this work introduces a mathematically grounded formulation showing how models…

We tackle the problem of forecasting bimanual 3D hand motion & articulation from a single image in everyday settings. To address the lack of 3D hand annotations in diverse settings, we design an annotation pipeline consisting of a diffusion…

Attention mechanisms, particularly channel attention, have become highly influential in numerous computer vision tasks. Despite their effectiveness, many existing methods primarily focus on optimizing performance through complex attention…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…