相关论文: Vehicle-centric Perception via Multimodal Structur…

Video-based pretraining offers immense potential for learning strong visual representations on an unprecedented scale. Recently, masked video modeling methods have shown promising scalability, yet fall short in capturing higher-level…

How to learn discriminative video representation from unlabeled videos is challenging but crucial for video analysis. The latest attempts seek to learn a representation model by predicting the appearance contents in the masked regions.…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

Constructing large-scale labeled datasets for multi-modal perception model training in autonomous driving presents significant challenges. This has motivated the development of self-supervised pretraining strategies. However, existing…

Model pre-training is essential in human-centric perception. In this paper, we first introduce masked image modeling (MIM) as a pre-training approach for this task. Upon revisiting the MIM training strategy, we reveal that human structure…

Recent advancements in large-scale Vision Transformers have made significant strides in improving pre-trained models for medical image segmentation. However, these methods face a notable challenge in acquiring a substantial amount of…

We present a new pre-training strategy called M$^{3}$3D ($\underline{M}$ulti-$\underline{M}$odal $\underline{M}$asked $\underline{3D}$) built based on Multi-modal masked autoencoders that can leverage 3D priors and learned cross-modal…

In this work, we introduce long-video masked-embedding autoencoders (LV-MAE), a self-supervised learning framework for long video representation. Our approach treats short- and long-span dependencies as two separate tasks. Such decoupling…

We present a simplified, task-agnostic multi-modal pre-training approach that can accept either video or text input, or both for a variety of end tasks. Existing pre-training are task-specific by adopting either a single cross-modal encoder…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Visual reprogramming (VR) is a prompting technique that aims to re-purpose a pre-trained model (e.g., a classifier on ImageNet) to target tasks (e.g., medical data prediction) by learning a small-scale pattern added into input images…

In this paper, we present StrucTexTv2, an effective document image pre-training framework, by performing masked visual-textual prediction. It consists of two self-supervised pre-training tasks: masked image modeling and masked language…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

Spatial intelligence requires visual representations that capture both semantic objects and geometric structure in the physical world. To support this, two major pre-training schemes are now widely used as foundation backbones:…

Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…

With the increasing attention to pre-trained vision-language models (VLMs), \eg, CLIP, substantial efforts have been devoted to many downstream tasks, especially in test-time adaptation (TTA). However, previous works focus on learning…

Vision-and-language pre-training has achieved impressive success in learning multimodal representations between vision and language. To generalize this success to non-English languages, we introduce UC2, the first machine…

In vision-language pre-training (VLP), masked image modeling (MIM) has recently been introduced for fine-grained cross-modal alignment. However, in most existing methods, the reconstruction targets for MIM lack high-level semantics, and…

Visual-spatial understanding, the ability to infer object relationships and layouts from visual input, is fundamental to downstream tasks such as robotic navigation and embodied interaction. However, existing methods face spatial…