相关论文: Egocentric Bias in Vision-Language Models

Vision-Language (V-L) pre-trained models such as CLIP show prominent capabilities in various downstream tasks. Despite this promise, V-L models are notoriously limited by their inherent social biases. A typical demonstration is that V-L…

Vision-Language Models (VLMs) have recently seen significant advancements through integrating with Large Language Models (LLMs). The VLMs, which process image and text modalities simultaneously, have demonstrated the ability to learn and…

Are vision-language models (VLMs) for open-vocabulary perception inherently open-set models because they are trained on internet-scale datasets? We answer this question with a clear no - VLMs introduce closed-set assumptions via their…

With the rapid development of artificial intelligence technologies and wearable devices, egocentric vision understanding has emerged as a new and challenging research direction, gradually attracting widespread attention from both academia…

Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent…

Designing an open-world quadrupedal loco-manipulation system is highly challenging. Traditional reinforcement learning frameworks utilizing exteroception often suffer from extreme sample inefficiency and massive sim-to-real gaps.…

Perceiving the world from both egocentric (first-person) and exocentric (third-person) perspectives is fundamental to human cognition, enabling rich and complementary understanding of dynamic environments. In recent years, allowing the…

This paper deals with the problem of localizing objects in image and video datasets from visual exemplars. In particular, we focus on the challenging problem of egocentric visual query localization. We first identify grave implicit biases…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

The emergence of Large Vision-Language Models (LVLMs) marks significant strides towards achieving general artificial intelligence. However, these advancements are accompanied by concerns about biased outputs, a challenge that has yet to be…

Autonomous driving requires reliable perception and safe decision-making in complex scenarios. Recent vision-language models (VLMs) demonstrate reasoning and generalization abilities, opening new possibilities for autonomous driving;…

Language-conditioned robotic manipulation in open-world settings requires not only accurate task execution but also the ability to detect failures for robust deployment in real-world environments. Although recent advances in vision-language…

We present ViLBERT (short for Vision-and-Language BERT), a model for learning task-agnostic joint representations of image content and natural language. We extend the popular BERT architecture to a multi-modal two-stream model, pro-cessing…

Vision-Language-Action (VLA) models for autonomous driving show promise but falter in unstructured corner case scenarios, largely due to a scarcity of targeted benchmarks. To address this, we introduce Impromptu VLA. Our core contribution…

Large vision-language contrastive models (VLCMs), such as CLIP, have become foundational, demonstrating remarkable success across a variety of downstream tasks. Despite their advantages, these models, akin to other foundational systems,…

The integration of vision-language models into robotic systems constitutes a significant advancement in enabling machines to interact with their surroundings in a more intuitive manner. While VLMs offer rich multimodal reasoning, existing…

Cooperative autonomous driving requires traffic scene understanding from both vehicle and infrastructure perspectives. While vision-language models (VLMs) show strong general reasoning capabilities, their performance in safety-critical…

Egocentric videos offer fine-grained information for high-fidelity modeling of human behaviors. Hands and interacting objects are one crucial aspect of understanding a viewer's behaviors and intentions. We provide a labeled dataset…

Vision-language models (VLMs) have excelled in multimodal tasks, but adapting them to embodied decision-making in open-world environments presents challenges. One critical issue is bridging the gap between discrete entities in low-level…

Spatial reasoning is a key aspect of cognitive psychology and remains a bottleneck for current vision-language models (VLMs). While extensive research has aimed to evaluate or improve VLMs' understanding of basic spatial relations, such as…