7 papers
Artificial Foveated Perception for Mitigating Shortcut Learning in Robotic Foundation Models
Xiatao Sun, Yuan Zhuang, Mateo Sanchez Lopez Negrete +9
Robotic foundation models still need task-specific fine-tuning before deployment, and the fine-tuned policies often break under modest changes in scene layout, lighting, or nearby…
Toward Open-World Video Segmentation over Long Horizons
Qing Su, Kaiyang Li, Yuan Zhuang +2
Long videos challenge open-world segmentation systems to continually discover objects and preserve their identities through disappearance and reappearance. Savvy, a zero-shot, semi…
SEVO: Semantic-Enhanced Virtual Observation for Robust VLA Manipulation via Active Illumination and Data-Centric Collection
Tianchonghui Fang, Yuan Zhuang, Fei Miao
Vision-Language-Action (VLA) and imitation-learning policies trained via community toolchains on low-cost hardware frequently fail when deployed outside the training environment. E…
TGIF: Text-Guided Layer Fusion Mitigates Hallucination in Multimodal LLMs
Chenchen Lin, Sanbao Su, Rachel Luo +4
Multimodal large language models (MLLMs) typically rely on a single late-layer feature from a frozen vision encoder, leaving the encoder's rich hierarchy of visual cues under-utili…
LD-MoLE: Learnable Dynamic Routing for Mixture of LoRA Experts
Yuan Zhuang, Yi Shen, Yuexin Bian +4
Recent studies have shown that combining parameter-efficient fine-tuning (PEFT) with mixture-of-experts (MoE) is an effective strategy for adapting large language models (LLMs) to…
Uncertainty Quantification for Collaborative Object Detection Under Adversarial Attacks
Huiqun Huang, Cong Chen, Jean-Philippe Monteuuis +2
Collaborative Object Detection (COD) and collaborative perception can integrate data or features from various entities, and improve object detection accuracy compared with individu…
-OCC: Uncertainty-Aware Camera-based 3D Semantic Occupancy Prediction
Sanbao Su, Nuo Chen, Chenchen Lin +3
In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims…