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

In recent years, diffusion models have demonstrated remarkable success in high-fidelity image synthesis. However, fine-tuning these models for specialized domains, such as medical imaging, remains challenging due to limited domain-specific…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

Deployment of machine learning algorithms into real-world practice is still a difficult task. One of the challenges lies in the unpredictable variability of input data, which may differ significantly among individual users, institutions,…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

Accelerating compute intensive non-real-time beam-forming algorithms in ultrasound imaging using deep learning architectures has been gaining momentum in the recent past. Nonetheless, the complexity of the state-of-the-art deep learning…

The deployment of foundation models for medical imaging has demonstrated considerable success. However, their training overheads associated with downstream tasks remain substantial due to the size of the image encoders employed, and the…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

Can a lightweight Vision Transformer (ViT) match or exceed the performance of Convolutional Neural Networks (CNNs) like ResNet on small datasets with small image resolutions? This report demonstrates that a pure ViT can indeed achieve…

Diffusion-based methods have been acknowledged as a powerful paradigm for end-to-end visuomotor control in robotics. Most existing approaches adopt a Diffusion Policy in U-Net architecture (DP-U), which, while effective, suffers from…

There is substantial interest in developing artificial intelligence systems to support radiologists across tasks ranging from segmentation to report generation. Existing computed tomography (CT) foundation models have largely focused on…

Vision-based imitation learning has enabled impressive robotic manipulation skills, but its reliance on object appearance while ignoring the underlying 3D scene structure leads to low training efficiency and poor generalization. To address…

Recent progress in vision-language pretraining has enabled significant improvements to many downstream computer vision applications, such as classification, retrieval, segmentation and depth prediction. However, a fundamental capability…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Diffusion policies (DP) have recently shown great promise for generating actions in robotic manipulation. However, existing approaches often rely on global instructions to produce short-term control signals, which can result in misalignment…

Recent state-of-the-art performances of Vision Transformers (ViT) in computer vision tasks demonstrate that a general-purpose architecture, which implements long-range self-attention, could replace the local feature learning operations of…

Distillation addresses the slow sampling problem in diffusion models by creating models with smaller size or fewer steps that approximate the behavior of high-step teachers. In this work, we propose a reinforcement learning based…

In the context of resource-constrained environments such as embedded systems, adapting reduced-size foundation models to downstream tasks has become increasingly popular. This has recently motivated the emerging setting of task-specific…

Video Foundation Models (VFMs) have received limited exploration due to high computational costs and data scarcity. Previous VFMs rely on Image Foundation Models (IFMs), which face challenges in transferring to the video domain. Although…