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±¨¸æÌâÄ¿£ºBlind Deconvolution for Color Images Using Normalized Quaternion Kernels
±¨¸æÕªÒª£ºAbstract: In this talk, we discuss color image processing by using quaternion algebras. In particular, we study blind deconvolution for color images. Experimental results are presented to demonstrate the effectiveness of quaternion models.
½²Õß¼ò½é£ºDepartment of Mathematics, Hong Kong Baptist University, Hong Kong, China
Michael K. Ng (Senior Member, IEEE) received the BSc and MPhil degrees from the University of Hong Kong in 1990 and 1992, respectively, and the PhD degree from the Chinese University of Hong Kong in 1995. He was a research fellow of Computer Sciences Laboratory with Australian National University from 1995 to 1997, and an assistant/associate professor of the University of Hong Kong from 1997 to 2005. He was a professor/chair professor with the Department of Mathematics, Hong Kong Baptist University from 2006 to 2019. He was a chair professor with Research Division of Mathematical and Statistical Science, The University of Hong Kong from 2019 to 2023. He is currently a chair professor in Mathematics and a chair professor in Data Science with Hong Kong Baptist University. His research interests include bioinformatics, image processing, scientific computing, and data mining. He is selected for the 2017 Class of Fellows of the Society for Industrial and Applied Mathematics. He obtained the Feng Kang Prize for his significant contributions in scientific computing. He serves on the Editorial Board members of several international journals.
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±¨¸æÕªÒª£ºHongyang Li is an Assistant Professor at The University of Hong Kong and has led OpenDriveLab (opendrivelab.com) since 2021. His research focus is on autonomous driving and embodied AI. He led the end-to-end autonomous driving project, UniAD and won the IEEE CVPR 2023 Best Paper Award. He created the first large-scale real robot ecosystem, Agibot World, that systematically investigated the scaling law principles for robotic manipulation. He served as Area Chair for CVPR, NeurIPS, ICLR, ICCV, ICML, RSS.
½²Õß¼ò½é£ºA generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single physical specification and struggle to learn transferable knowledge across different embodiments and environments. To confront these limitations, we propose UniVLA, a new framework for learning cross-embodiment vision-language-action (VLA) policies. Our key innovation is to derive task-centric action representations from videos with a latent action model. This enables us to exploit extensive data across a wide spectrum of embodiments and perspectives. To mitigate the effect of task-irrelevant dynamics, we incorporate language instructions and establish a latent action model within the DINO feature space. Learned from internet-scale videos, the generalist policy can be deployed to various robots through efficient latent action decoding. We obtain state-of-the-art results across multiple manipulation and navigation benchmarks, as well as real-robot deployments. UniVLA achieves superior performance over OpenVLA with less than 1/20 of pretraining compute and 1/10 of downstream data. Continuous performance improvements are observed as heterogeneous data, even including human videos, are incorporated into the training pipeline. The results underscore UniVLA's potential to facilitate scalable and efficient robot policy learning.
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