@article{anefficientgeneralpurposemodularvision,
  title = {An Efficient General-Purpose Modular Vision Model via Multi-Task Heterogeneous Training},
  author = {Zitian Chen and Mingyu Ding and Yikang Shen and Wei Zhan and Masayoshi Tomizuka and Erik Learned-Miller and Chuang Gan},
  year = {2023},
  eprint = {2306.17165},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.17165v1},
}