相关论文: VAT: Vision Action Transformer by Unlocking Full R…

Vision Transformers (ViTs) have become prominent models for solving various vision tasks. However, the interpretability of ViTs has not kept pace with their promising performance. While there has been a surge of interest in developing {\it…

Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and complementary cues. Here, we present Visuo-Tactile Transformers…

We present a framework for learning multimodal representations from unlabeled data using convolution-free Transformer architectures. Specifically, our Video-Audio-Text Transformer (VATT) takes raw signals as inputs and extracts multimodal…

In recent years, the transformer architecture has become the de facto standard for machine learning algorithms applied to natural language processing and computer vision. Despite notable evidence of successful deployment of this…

Though vision transformers (ViTs) have achieved state-of-the-art performance in a variety of settings, they exhibit surprising failures when performing tasks involving visual relations. This begs the question: how do ViTs attempt to perform…

Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…

Pretraining Vision Transformers (ViTs) has achieved great success in visual recognition. A following scenario is to adapt a ViT to various image and video recognition tasks. The adaptation is challenging because of heavy computation and…

Transformers, composed of multiple self-attention layers, hold strong promises toward a generic learning primitive applicable to different data modalities, including the recent breakthroughs in computer vision achieving state-of-the-art…

Transformers are transforming the landscape of computer vision, especially for recognition tasks. Detection transformers are the first fully end-to-end learning systems for object detection, while vision transformers are the first fully…

Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…

Recent advancements in Vision Transformers (ViT) have demonstrated exceptional results in various visual recognition tasks, owing to their ability to capture long-range dependencies in images through self-attention mechanisms. However, the…

Recently vision transformers (ViT) have been applied successfully for various tasks in computer vision. However, important questions such as why they work or how they behave still remain largely unknown. In this paper, we propose an…

Transformer design is the de facto standard for natural language processing tasks. The success of the transformer design in natural language processing has lately piqued the interest of researchers in the domain of computer vision. When…

Vision-Language-Action (VLA) models built upon Chain-of-Thought (CoT) have achieved remarkable success in advancing general-purpose robotic agents, owing to its significant perceptual comprehension. Recently, since text-only CoT struggles…

Recently, plain vision Transformers (ViTs) have shown impressive performance on various computer vision tasks, thanks to their strong modeling capacity and large-scale pretraining. However, they have not yet conquered the problem of image…

For 3D object manipulation, methods that build an explicit 3D representation perform better than those relying only on camera images. But using explicit 3D representations like voxels comes at large computing cost, adversely affecting…

How do vision transformers (ViTs) represent and process the world? This paper addresses this long-standing question through the first systematic analysis of 6.6K features across all layers, extracted via sparse autoencoders, and by…

The transformer models have shown promising effectiveness in dealing with various vision tasks. However, compared with training Convolutional Neural Network (CNN) models, training Vision Transformer (ViT) models is more difficult and relies…

This paper tackles a significant challenge faced by Vision Transformers (ViTs): their constrained scalability across different image resolutions. Typically, ViTs experience a performance decline when processing resolutions different from…

Vision Transformers (ViTs) are becoming more popular and dominating technique for various vision tasks, compare to Convolutional Neural Networks (CNNs). As a demanding technique in computer vision, ViTs have been successfully solved various…