Related papers: Autoregressive Action Sequence Learning for Roboti…

Reinforcement learning algorithms rely on exploration to discover new behaviors, which is typically achieved by following a stochastic policy. In continuous control tasks, policies with a Gaussian distribution have been widely adopted.…

Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…

In robotic visuomotor policy learning, diffusion-based models have achieved significant success in improving the accuracy of action trajectory generation compared to traditional autoregressive models. However, they suffer from inefficiency…

Standard autoregressive language models generate text by repeatedly selecting a discrete next token, coupling prediction with irreversible commitment at every step. We show that token selection is not the only viable autoregressive…

Mainstream visuomotor policies predominantly rely on generative models for holistic action prediction, while current autoregressive policies, predicting the next token or chunk, have shown suboptimal results. This motivates a search for…

As an essential task in autonomous driving (AD), motion prediction aims to predict the future states of surround objects for navigation. One natural solution is to estimate the position of other agents in a step-by-step manner where each…

Autoregressive models (ARMs) have become the workhorse for sequence generation tasks, since many problems can be modeled as next-token prediction. While there appears to be a natural ordering for text (i.e., left-to-right), for many data…

We introduce a new paradigm for AutoRegressive (AR) image generation, termed Set AutoRegressive Modeling (SAR). SAR generalizes the conventional AR to the next-set setting, i.e., splitting the sequence into arbitrary sets containing…

Autoregressive policies offer a compelling foundation for scalable robot learning by enabling discrete abstraction, token-level reasoning, and flexible inference. However, applying autoregressive modeling to continuous robot actions…

As multi-object tracking (MOT) tasks continue to evolve toward more general and multi-modal scenarios, the rigid and task-specific architectures of existing MOT methods increasingly hinder their applicability across diverse tasks and limit…

Autoregressive (AR) language models generate text one token at a time, even when consecutive tokens are highly predictable given earlier context. We introduce MARS (Mask AutoRegreSsion), a lightweight fine-tuning method that teaches an…

Autoregressive models have demonstrated great performance in natural language processing (NLP) with impressive scalability, adaptability and generalizability. Inspired by their notable success in NLP field, autoregressive models have been…

We present Chain-of-Action (CoA), a novel visuo-motor policy paradigm built upon Trajectory Autoregressive Modeling. Unlike conventional approaches that predict next step action(s) forward, CoA generates an entire trajectory by explicit…

Controllable trajectory generation guided by high-level semantic decisions, termed meta-actions, is crucial for autonomous driving systems. A significant limitation of existing frameworks is their reliance on invariant meta-actions assigned…

We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In contrast to existing Vision-Language-Action (VLA) models and…

Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for…

We present LARP, a novel video tokenizer designed to overcome limitations in current video tokenization methods for autoregressive (AR) generative models. Unlike traditional patchwise tokenizers that directly encode local visual patches…

Failure is inevitable for embodied navigation in complex environments. To enhance the resilience, replanning (RP) is a viable option, where the robot is allowed to fail, but is capable of adjusting plan until success. However, existing RP…

Autoregressive modeling has been a huge success in the field of natural language processing (NLP). Recently, autoregressive models have emerged as a significant area of focus in computer vision, where they excel in producing high-quality…

In this paper, we present a novel modeling method for single-channel multi-talker overlapped automatic speech recognition (ASR) systems. Fully neural network based end-to-end models have dramatically improved the performance of multi-taker…