Reconstruction T arget: Point-MAE's reconstruction task aims to restore the coordinates of the Finally, an MLP with a dropout rate of 0.5 was used Pre-training 3d point cloud transformers with masked point modeling.

Neural Information Processing Systems http://nips.cc/

Retinal vessel segmentation is generally grounded in image-based datasets collected with bench-top devices.

Cross-domain few-shot learning (CDFSL) is proposed to transfer knowledge from large-scale source-domain datasets to downstream target-domain datasets with only a few training samples. However, Vision Transformer (ViT), as a strong backbone network to achieve many top performances, is still under-explored in the CDFSL task in its transferability against large domain gaps. In this paper, we find an interesting phenomenon of ViT in the CDFSL task: by simply multiplying a temperature (even as small as 0) to the attention in ViT blocks, the target-domain performance consistently increases, even though the attention map is downgraded to a uniform map.

Foundation models have achieved remarkable results in 2D and language tasks like image segmentation, object detection, and visual-language understanding. However, their potential to enrich 3D scene representation learning is largely untapped due to the existence of the domain gap. In this work, we propose an innovative methodology called Bridge3D to address this gap by pre-training 3D models using features, semantic masks, and captions sourced from foundation models. Specifically, our method employs semantic masks from foundation models to guide the masking and reconstruction process for the masked autoencoder, enabling more focused attention on foreground representations.

Cross-domain transfer in robotic manipulation remains a longstanding challenge due to the significant domain gap between simulated and real-world environments. Existing methods such as domain randomization, adaptation, and sim-real calibration often require extensive tuning or fail to generalize to unseen scenarios. To address this issue, we observe that if domain-invariant features are utilized during policy training in simulation, and the same features can be extracted and provided as the input to policy during real-world deployment, the domain gap can be effectively bridged, leading to significantly improved policy generalization. Accordingly, we propose Semantic 2D Gaussian Splatting (S2GS), a novel representation method that extracts object-centric, domain-invariant spatial features. S2GS constructs multi-view 2D semantic fields and projects them into a unified 3D space via feature-level Gaussian splatting. A semantic filtering mechanism removes irrelevant background content, ensuring clean and consistent inputs for policy learning. To evaluate the effectiveness of S2GS, we adopt Diffusion Policy as the downstream learning algorithm and conduct experiments in the ManiSkill simulation environment, followed by real-world deployment. Results demonstrate that S2GS significantly improves sim-to-real transferability, maintaining high and stable task performance in real-world scenarios.

Deep reinforcement learning methods traditionally struggle with tasks where environment rewards are particularly sparse.

This is made possible by learning a projection between a feature space and a semantic space (e.g.