Vision language models have played a key role in extracting meaningful features for various robotic applications. Among these, Contrastive Language-Image Pretraining (CLIP) is widely used in robotic tasks that require both vision and natural language understanding. However, CLIP was trained solely on static images paired with text prompts and has not yet been fully adapted for robotic tasks involving dynamic actions. In this paper, we introduce Robotic-CLIP to enhance robotic perception capabilities. We first gather and label large-scale action data, and then build our Robotic-CLIP by fine-tuning CLIP on 309,433 videos (~7.4 million frames) of action data using contrastive learning. By leveraging action data, Robotic-CLIP inherits CLIP's strong image performance while gaining the ability to understand actions in robotic contexts. Intensive experiments show that our Robotic-CLIP outperforms other CLIP-based models across various language-driven robotic tasks. Additionally, we demonstrate the practical effectiveness of Robotic-CLIP in real-world grasping applications.

Stochastic Volatility (SV) models are widely used in the financial sector while Long Short-Term Memory (LSTM) models have been successfully used in many large-scale industrial applications of Deep Learning. Our article combines these two methods non trivially and proposes a model for capturing the dynamics of financial volatility process, which we call the LSTM-SV model. The proposed model overcomes the short-term memory problem in conventional SV models, is able to capture non-linear dependence in the latent volatility process, and often has a better out-of-sample forecast performance than SV models. The conclusions are illustrated through simulation studies and applications to three financial time series datasets: US stock market weekly index SP500, Australian stock weekly index ASX200 and Australian-US dollar daily exchange rates. We argue that there are significant differences in the underlying dynamics between the volatility process of SP500 and ASX200 datasets and that of the exchange rate dataset. For the stock index data, there is strong evidence of long-term memory and non-linear dependence in the volatility process, while this is not the case for the exchange rates. An user-friendly software package together with the examples reported in the paper are available at https://github.com/vbayeslab.