相关论文: Compact Task-Aligned Imitation Learning for Labora…

State-of-the-art CNN based recognition models are often computationally prohibitive to deploy on low-end devices. A promising high level approach tackling this limitation is knowledge distillation, which let small student model mimic…

Large-scale Vision-Language Models (VLMs) encode rich multimodal semantics that are highly beneficial for fine-grained visual categorization (FGVC). However, their prohibitive computational cost hinders practical deployment in…

This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…

Self-supervised visual foundation models produce powerful embeddings that achieve remarkable performance on a wide range of downstream tasks. However, unlike vision-language models such as CLIP, self-supervised visual features are not…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

Prompt learning has become one of the most efficient paradigms for adapting large pre-trained vision-language models to downstream tasks. Current state-of-the-art methods, like CoOp and ProDA, tend to adopt soft prompts to learn an…

Vision Transformer (ViT) is becoming more popular in image processing. Specifically, we investigate the effectiveness of test-time adaptation (TTA) on ViT, a technique that has emerged to correct its prediction during test-time by itself.…

Real-time fault classification in resource-constrained Internet of Things (IoT) devices is critical for industrial safety, yet training robust models in such heterogeneous environments remains a significant challenge. Standard Federated…

We introduce $\textbf{F}$uture $\textbf{LA}$tent $\textbf{RE}$presentation Alignment ($\textbf{FLARE}$), a novel framework that integrates predictive latent world modeling into robot policy learning. By aligning features from a diffusion…

In the realm of medical imaging, leveraging large-scale datasets from various institutions is crucial for developing precise deep learning models, yet privacy concerns frequently impede data sharing. federated learning (FL) emerges as a…

Large language models have led to significant progress across many NLP tasks, although their massive sizes often incur substantial computational costs. Distillation has become a common practice to compress these large and highly capable…

Vision-language pre-training like CLIP has shown promising performance on various downstream tasks such as zero-shot image classification and image-text retrieval. Most of the existing CLIP-alike works usually adopt relatively large image…

In medical contexts, the imbalanced data distribution in long-tailed datasets, due to scarce labels for rare diseases, greatly impairs the diagnostic accuracy of deep learning models. Recent multimodal text-image supervised foundation…

We demonstrate that in knowledge distillation for diffusion models, the teacher network's highly complex denoising process - stemming from its substantially larger capacity - poses a significant challenge for the student model to faithfully…

Vision foundation models have demonstrated exceptional generalization capabilities in segmentation tasks for both generic and specialized images. However, a performance gap persists between foundation models and task-specific, specialized…

Learning-based methods have been used to pro-gram robotic tasks in recent years. However, extensive training is usually required not only for the initial task learning but also for generalizing the learned model to the same task but in…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

This paper introduces ITA-MDT, the Image-Timestep-Adaptive Masked Diffusion Transformer Framework for Image-Based Virtual Try-On (IVTON), designed to overcome the limitations of previous approaches by leveraging the Masked Diffusion…