相关论文: AutoFocus-IL: VLM-based Saliency Maps for Data-Eff…

Weakly-Supervised Dense Video Captioning aims to localize and describe events in videos trained only on caption annotations, without temporal boundaries. Prior work introduced an implicit supervision paradigm based on Gaussian masking and…

Imitation learning (IL) aims to enable robots to perform tasks autonomously by observing a few human demonstrations. Recently, a variant of IL, called In-Context IL, utilized off-the-shelf large language models (LLMs) as instant policies…

Contrastive language-image pretraining (CLIP) has demonstrated remarkable success in various image tasks. However, how to extend CLIP with effective temporal modeling is still an open and crucial problem. Existing factorized or joint…

Recent research on Large Language Models for autonomous driving shows promise in planning and control. However, high computational demands and hallucinations still challenge accurate trajectory prediction and control signal generation.…

While imitation learning (IL) offers a promising framework for teaching robots various behaviors, learning complex tasks remains challenging. Existing IL policies struggle to generalize effectively across visual and spatial variations even…

Vision Language Models (VLMs) are designed to extend Large Language Models (LLMs) with visual capabilities, yet in this work we observe a surprising phenomenon: VLMs can outperform their underlying LLMs on purely text-only tasks,…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

Reward specification is a notoriously difficult problem in reinforcement learning, requiring extensive expert supervision to design robust reward functions. Imitation learning (IL) methods attempt to circumvent these problems by utilizing…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

Multimodal large language models (MLLMs) have demonstrated remarkable potential for enhancing scene understanding in autonomous driving systems through powerful logical reasoning capabilities. However, the deployment of these models faces…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

Data scarcity is a long-standing challenge in the Vision-Language Navigation (VLN) field, which extremely hinders the generalization of agents to unseen environments. Previous works primarily rely on additional simulator data or…

The rapid growth of ego-centric dashcam footage presents a major challenge for detecting safety-critical events such as collisions and near-collisions, scenarios that are brief, rare, and difficult for generic vision models to capture.…

Deep learning based salient object detection has recently achieved great success with its performance greatly outperforms any other unsupervised methods. However, annotating per-pixel saliency masks is a tedious and inefficient procedure.…

Vision-Language Models (VLMs) lag behind Large Language Models due to the scarcity of annotated datasets, as creating paired visual-textual annotations is labor-intensive and expensive. To address this bottleneck, we introduce SAM2Auto, the…

As an essential component of visual simultaneous localization and mapping (SLAM), place recognition is crucial for robot navigation and autonomous driving. Existing methods often formulate visual place recognition as feature matching, which…

In-context learning (ICL), a predominant trend in instruction learning, aims at enhancing the performance of large language models by providing clear task guidance and examples, improving their capability in task understanding and…

Vision Language Models (VLMs) pretrained on Internet-scale vision-language data have demonstrated the potential to transfer their knowledge to robotic learning. However, the existing paradigm encounters three critical challenges: (1)…

Code Language Models (CodeLLMs) traditionally learn attention based solely on statistical input-output token correlations ("machine attention"). In contrast, human developers rely on intuition, selectively fixating on semantically salient…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…