Related papers: M2T2: Multi-Task Masked Transformer for Object-cen…

Data-to-text (D2T) and text-to-data (T2D) are dual tasks that convert structured data, such as graphs or tables into fluent text, and vice versa. These tasks are usually handled separately and use corpora extracted from a single source.…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Large transformer models have been shown to be capable of performing in-context learning. By using examples in a prompt as well as a query, they are capable of performing tasks such as few-shot, one-shot, or zero-shot learning to output the…

Multi-task learning solves multiple correlated tasks. However, conflicts may exist between them. In such circumstances, a single solution can rarely optimize all the tasks, leading to performance trade-offs. To arrive at a set of optimized…

Existing works in few-shot action recognition mostly fine-tune a pre-trained image model and design sophisticated temporal alignment modules at feature level. However, simply fully fine-tuning the pre-trained model could cause overfitting…

Aiming to advance AI agents, large foundation models significantly improve reasoning and instruction execution, yet the current focus on vision and language neglects the potential of perceiving diverse modalities in open-world environments.…

Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…

Steering vectors have emerged as a lightweight and effective approach for aligning large language models (LLMs) at inference time, enabling modulation over model behaviors by shifting LLM representations towards a target behavior. However,…

Masked Autoencoders (MAE) have shown great potentials in self-supervised pre-training for language and 2D image transformers. However, it still remains an open question on how to exploit masked autoencoding for learning 3D representations…

Autonomous driving technology is poised to transform transportation systems. However, achieving safe and accurate multi-task decision-making in complex scenarios, such as unsignalized intersections, remains a challenge for autonomous…

We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…

We present Sapiens2, a model family of high-resolution transformers for human-centric vision focused on generalization, versatility, and high-fidelity outputs. Our model sizes range from 0.4 to 5 billion parameters, with native 1K…

We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…

Task-oriented handovers (TOH) are fundamental to effective human-robot collaboration, requiring robots to present objects in a way that supports the human's intended post-handover use. Existing approaches are typically based on object- or…

Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that leverages Large Language Models (LLMs) and Quality Diversity…

We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches learn end-to-end policies with features from vision foundation…

Large multi-modal models (LMMs) show increasing performance in realistic visual tasks for images and, more recently, for videos. For example, given a video sequence, such models are able to describe in detail objects, the surroundings and…

Although it is known that transformer language models (LMs) pass features from early layers to later layers, it is not well understood how this information is represented and routed by the model. We analyze a mechanism used in two LMs to…