11 papers
Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning
Huayi Zhou, Wei Gao, Dekun Lu +12
End-to-end manipulation policies, combined with web-scale pretrained Vision-Language Models (VLMs), show the promise for generalizable and dexterous robotic manipulation. However,…
Enhancing Generalization of Depth Estimation Foundation Model via Weakly-Supervised Adaptation with Regularization
Yan Huang, Yongyi Su, Xin Lin +2
The emergence of foundation models has substantially advanced zero-shot generalization in monocular depth estimation (MDE), as exemplified by the Depth Anything series. However, gi…
Patch-as-Decodable-Token: Towards Unified Multi-Modal Vision Tasks in MLLMs
Yongyi Su, Haojie Zhang, Shijie Li +11
Multimodal large language models (MLLMs) have advanced rapidly in recent years. However, existing approaches for vision tasks often rely on indirect representations, such as genera…
AD-FM: Multimodal LLMs for Anomaly Detection via Multi-Stage Reasoning and Fine-Grained Reward Optimization
Jingyi Liao, Yongyi Su, Rong-Cheng Tu +6
While Multimodal Large Language Models (MLLMs) demonstrate remarkable capabilities across diverse domains, their application to specialized anomaly detection (AD) remains constrain…
SODA: Out-of-Distribution Detection in Domain-Shifted Point Clouds via Neighborhood Propagation
Adam Goodge, Xun Xu, Bryan Hooi +4
As point cloud data increases in prevalence in a variety of applications, the ability to detect out-of-distribution (OOD) point cloud objects becomes critical for ensuring model sa…
Towards Real-World Test-Time Adaptation: Tri-Net Self-Training with Balanced Normalization
Yongyi Su, Xun Xu, Kui Jia
Test-Time Adaptation aims to adapt source domain model to testing data at inference stage with success demonstrated in adapting to unseen corruptions. However, these attempts may f…