Related papers: InfoCon: Concept Discovery with Generative and Dis…

Uncovering emergent concepts across transformer layers remains a significant challenge because the residual stream linearly mixes and duplicates information, obscuring how features evolve within large language models. Current research…

In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

Can artificial intelligence discover, from raw experience and without human supervision, concepts that humans have discovered? One challenge is that human concepts themselves are fluid: conceptual boundaries can shift, split, and merge as…

Generalizing from individual skill executions to solving long-horizon tasks remains a core challenge in building autonomous agents. A promising direction is learning high-level, symbolic abstractions of the low-level skills of the agents,…

In recent years, deep generative models have been shown to 'imagine' convincing high-dimensional observations such as images, audio, and even video, learning directly from raw data. In this work, we ask how to imagine goal-directed visual…

The emergence of large-scale pre-trained models has heightened their application in various downstream tasks, yet deployment is a challenge in environments with limited computational resources. Knowledge distillation has emerged as a…

Learning disentangled and interpretable representations is an important step towards accomplishing comprehensive data representations on the manifold. In this paper, we propose a novel representation learning algorithm which combines the…

When solving long-horizon tasks, it is intriguing to decompose the high-level task into subtasks. Decomposing experiences into reusable subtasks can improve data efficiency, accelerate policy generalization, and in general provide promising…

Prior works have demonstrated that implicit representations trained only for reconstruction tasks typically generate encodings that are not useful for semantic tasks. In this work, we propose a method that contextualises the encodings of…

Understanding the progress of a task allows humans to not only track what has been done but also to better plan for future goals. We demonstrate TaKSIE, a novel framework that incorporates task progress knowledge into visual subgoal…

Soft prompt tuning achieves superior performances across a wide range of few-shot tasks. However, the performances of prompt tuning can be highly sensitive to the initialization of the prompts. We also empirically observe that conventional…

Sensor-based reactive and hybrid approaches have proven a promising line of study to address imperfect knowledge in grasping and manipulation. However the reactive approaches are usually tightly coupled to a particular embodiment making…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

Concept-based explainable approaches have emerged as a promising method in explainable AI because they can interpret models in a way that aligns with human reasoning. However, their adaption in the text domain remains limited. Most existing…

Although deep language representations have become the dominant form of language featurization in recent years, in many settings it is important to understand a model's decision-making process. This necessitates not only an interpretable…

Machine learning based image classification algorithms, such as deep neural network approaches, will be increasingly employed in critical settings such as quality control in industry, where transparency and comprehensibility of decisions…

While diffusion models excel at generating high-quality samples, their latent variables typically lack semantic meaning and are not suitable for representation learning. Here, we propose InfoDiffusion, an algorithm that augments diffusion…

As more non-AI experts use complex AI systems for daily tasks, there has been an increasing effort to develop methods that produce explanations of AI decision making that are understandable by non-AI experts. Towards this effort, leveraging…

The advent of representation learning methods enabled large performance gains on various language tasks, alleviating the need for manual feature engineering. While engineered representations are usually based on some linguistic…

Existing human motion Q\&A methods rely on explicit program execution, where the requirement for manually defined functional modules may limit the scalability and adaptability. To overcome this, we propose an implicit program-guided motion…