44 accepted papers
Complex video reasoning, actually, relies excessively on fine-grained perception rather than on expert (e.g., Ph.D, Science)-level reasoning.Through extensive empirical observation, we have recognized the critical impact of perception.In particular, when perception ability is almost fixed, enhancing
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties and force dynamics. Although optical tactile sensors are uniquely capable of providing such rich information, existing tactile datasets a…
Bridging the sim-to-real gap is important for applying low-cost simulation data to real-world robotic systems. However, previous methods are severely limited by treating each transfer as an isolated endeavor, demanding repeated, costly tuning and wasting prior transfer experience.To move beyond isol
The problem of localization on a large-scale satellite image given a frame of query ground view point clouds remains challenging. Existing LiDAR-to-image cross-view localization methods struggle in large-scale scenarios due to limited semantic alignment and the modality gap between point clouds and …
In real-world applications, multi-view data often suffer from missing situations due to privacy protection and sensor failures. Such incomplete scenarios not only reduce information availability but also cause significant imbalance among views: certain "strong views" dominate the fusion process, whi
Multimodal learning hinges on capturing redundant, unique, and synergistic information across modalities, which collectively constitute multimodal interactions. A critical yet underexplored challenge is that these implicit interactions vary dynamically across samples. In this work, we present the fi
Proprioceptive information is critical for precise servo control by providing real-time robotic states. Its collaboration with vision is highly expected to enhance performances of the manipulation policy in complex tasks. However, recent studies have reported inconsistent observations on the general…
Sensory training during the early ages is vital for human development. Inspired by this cognitive phenomenon, we observe that the early training stage is also important for the multimodal learning process, where dataset information is rapidly acquired. We refer to this stage as the prime learning wi…
Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding in completing various tasks. However, the distinct data cha…
In recent years, numerous tasks have been proposed to encourage model to develop specified capability in understanding audio-visual scene, primarily categorized into temporal localization, spatial localization, spatio-temporal reasoning, and pixel-level understanding. Instead, human possesses a unif…
Interactions between modalities—redundancy, uniqueness, and synergy—collectively determine the composition of multimodal information. Understanding these interactions is crucial for analyzing information dynamics in multimodal systems, yet their accurate sample-level quantification presents signific…
Establishing a reliable and iteratively refined robotic system is essential for deploying real-world applications. While Vision-Language-Action (VLA) models are widely recognized as the foundation model for such robotic deployment, their reliance on offline expert demonstrations critically limi…
In this paper, we reveal that most current efficient multimodal fine-tuning methods are hindered by a key limitation: they are directly borrowed from LLMs, often neglecting the intrinsic differences of multimodal scenarios and even affecting the full utilization of all modalities. Inspired by our em…
High-quality image captions play a crucial role in improving the performance of cross-modal applications such as text-to-image generation, text-to-video generation, and text-image retrieval. To generate long-form, high-quality captions, many recent studies have employed multimodal large language mod…
Building a generalizable self-correction system is crucial for robots to recover from failures. Despite advancements in Multimodal Large Language Models (MLLMs) that empower robots with semantic reflection ability for failure, translating semantic reflection into how to correct fine-grained robotic…
Multimodal learning faces challenges in effectively fusing information from diverse modalities, especially when modality quality varies across samples. Dynamic fusion strategies, such as attention mechanism in Transformers, aim to address such challenge by adaptively emphasizing modalities based on…
Continual pre-training (CPT) has been an important approach for adapting language models to specific domains or tasks. In this paper, we comprehensively study its key designs to balance the new abilities while retaining the original abilities, and present an effective CPT method that can greatly imp…
3D perception ability is crucial for generalizable robotic manipulation. While recent foundation models have made significant strides in perception and decision-making with RGB-based input, their lack of 3D perception limits their effectiveness in fine-grained robotic manipulation tasks. To address…
One primary topic of multimodal learning is to jointly incorporate heterogeneous information from different modalities. However most models often suffer from unsatisfactory multimodal cooperation which cannot jointly utilize all modalities well. Some methods are proposed to identify and enhance the…
Online Imitation Learning methods struggle with the gap between extensive online exploration space and limited expert trajectories, which hinder efficient exploration due to inaccurate task-aware reward estimation. Inspired by the findings from cognitive neuroscience that task decomposition coul…
Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of real-world data collection and precise object simulation, it still re…
Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable features for visuomotor policy learning. Despite the progress achi…
Multimodal learning methods with targeted unimodal learning objectives have exhibited their superior efficacy in alleviating the imbalanced multimodal learning problem. However, in this paper, we identify the previously ignored gradient conflict between multimodal and unimodal learning objectives, p…
Humans possess a remarkable talent for flexibly alternating to different senses when interacting with the environment. Picture a chef skillfully gauging the timing of ingredient additions and controlling the heat according to the colors, sounds, and aromas, seamlessly navigating through every stage…
Never having seen an object and heard its sound simultaneously, can the model still accurately localize its visual position from the input audio? In this work, we concentrate on the Audio-Visual Localization and Segmentation tasks but under the demanding zero-shot and few-shot scenarios. To achieve…
Multi-modal models have shown a promising capability to effectively integrate information from various sources, yet meanwhile, they are found vulnerable to pervasive perturbations, such as uni-modal attacks and missing conditions. To counter these perturbations, robust multi-modal representations ar…
Controllable spherical panoramic image generation holds substantial applicative potential across a variety of domains. However, it remains a challenging task due to the inherent spherical distortion and geometry characteristics, resulting in low-quality content generation. In this paper, we introduc…
Audio-visual learning helps to comprehensively under-stand the world by fusing practical information from multiple modalities. However, recent studies show that the imbalanced optimization of uni-modal encoders in a joint-learning model is a bottleneck to enhancing the model’s performance. We furthe…
Transfer learning has been a popular learning paradigm in the deep learning era, especially in annotation-insufficient scenarios. Better ImageNet pre-trained models have been demonstrated, from the perspective of architecture, by previous research to have better transferability to downstream tasks.…
Audio-visual learning helps to comprehensively understand the world, by integrating different senses. Accordingly, multiple input modalities are expected to boost model performance, but we actually find that they are not fully exploited even when the multi-modal model outperforms its uni-modal count…
In this paper, we focus on the Audio-Visual Question Answering (AVQA) task, which aims to answer questions regarding different visual objects, sounds, and their associations in videos. The problem requires comprehensive multimodal understanding and spatio-temporal reasoning over audio-visual scenes.…
Multiple modalities can provide rich semantic information; and exploiting such information will normally lead to better performance compared with the single-modality counterpart. However, it is not easy to devise an effective cross-modal fusion structure due to the variations of feature dimensions…
The task of audiovisual sound source localization has been well studied under constrained scenes, where the audio recordings are clean. However, in real world scenarios, audios are usually contaminated by off screen sound and background noise. They will interfere with the procedure of identifying de…
There are rich synchronized audio and visual events in our daily life. Inside the events, audio scenes are associated with the corresponding visual objects; meanwhile, sounding objects can indicate and help to separate their individual sounds in the audio track. Based on this observation, in this pa…
Temporal relational modeling in video is essential for human action understanding, such as action recognition and action segmentation. Although Graph Convolution Networks (GCNs) have shown promising advantages in relation reasoning on many tasks, it is still a challenge to apply graph convolution ne…
Unsupervised domain adaptation (UDA) methods for person re-identification (re-ID) aim at transferring re-ID knowledge from labeled source data to unlabeled target data. Among these methods, the pseudo-label-based branch has achieved great success, whereas most of them only use limited data from a si…
Aerial scene recognition is a fundamental task in remote sensing and has recently received increased interest. While the visual information from overhead images with powerful models and efficient algorithms yields considerable performance on scene recognition, it still suffers from the variation of…
Discriminatively localizing sounding objects in cocktail-party, i.e., mixed sound scenes, is commonplace for humans, but still challenging for machines. In this paper, we propose a two-stage learning framework to perform self-supervised class-aware sounding object localization. First, we propose to…
How to visually localize multiple sound sources in unconstrained videos is a formidable problem, especially when lack of the pairwise sound-object annotations. To solve this problem, we develop a two-stage audiovisual learning framework that disentangles audio and visual representations of different…
The seen birds twitter, the running cars accompany with noise, etc. These naturally audiovisual correspondences provide the possibilities to explore and understand the outside world. However, the mixed multiple objects and sounds make it intractable to perform efficient matching in the unconstrained…
Multiple modalities can provide more valuable information than single one by describing the same contents in various ways. Previous methods mainly focus on fusing the shallow features or high-level representations generated by unimodal deep networks, which only capture part of the hierarchical corre…
Visual-to-auditory sensory substitution devices can assist the blind in sensing the visual environment by translating the visual information into a sound pattern. To improve the translation quality, the task performances of the blind are usually employed to evaluate different encoding schemes. In co…
Image is usually taken for expressing some kinds of emotions or purposes, such as love, celebrating Christmas. There is another better way that combines the image and relevant song to amplify the expression, which has drawn much attention in the social network recently. Hence, the automatic selectio…
In view of the advantages of deep networks in producing useful representation, the generated features of different modality data (such as image, audio) can be jointly learned using Multimodal Restricted Boltzmann Machines (MRBM). Recently, audiovisual speech recognition based the MRBM has attracted…