Related papers: Autoregressive Action Sequence Learning for Roboti…

Autoregressive language models accumulate errors due to their fixed, irrevocable left-to-right token generation. To address this, we propose a new sampling method called Resample-Previous-Tokens (RPT). RPT mitigates error accumulation by…

Recently, autoregressive (AR) language models have emerged as a dominant approach in speech synthesis, offering expressive generation and scalable training. However, conventional AR speech synthesis models relying on the next-token…

Argument Mining (AM) helps in automating the extraction of complex argumentative structures such as Argument Components (ACs) like Premise, Claim etc. and Argumentative Relations (ARs) like Support, Attack etc. in an argumentative text. Due…

The automatic classification of occupational accident reports is pivotal for workplace safety analysis but is persistently hindered by severe class imbalance and data scarcity. In this paper, we propose ABEX-RAT, a resource-efficient…

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as…

Executing open-ended natural language queries is a core problem in robotics. While recent advances in imitation learning and vision-language-actions models (VLAs) have enabled promising end-to-end policies, these models struggle when faced…

Autoregressive (AR) models offer stable and efficient training, but standard next-token prediction is not well aligned with the temporal structure required for text-conditioned motion generation. We introduce MoScale, a next-scale AR…

Real-world perception and interaction are inherently multimodal, encompassing not only language but also vision and speech, which motivates the development of "Omni" MLLMs that support both multimodal inputs and multimodal outputs. While a…

This paper addresses the challenge of creating a neural architecture for very long sequences that requires constant time for processing new information at each time step. Our approach, Associative Recurrent Memory Transformer (ARMT), is…

Autonomous robotic systems should reason about resource control and its impact on subsequent maneuvers, especially when operating with limited energy budgets or restricted sensing. Learning-based control is effective in handling complex…

Autoregressive (AR) models, common in sequence generation, are limited in many biological tasks such as de novo peptide sequencing and protein modeling by their unidirectional nature, failing to capture crucial global bidirectional token…

Procedure Planning in instructional videos entails generating a sequence of action steps based on visual observations of the initial and target states. Despite the rapid progress in this task, there remain several critical challenges to be…

We present ATLAS-RTC, a runtime control system for autoregressive language models that enforces structured output during decoding. ATLAS-RTC monitors generation at each step, detects drift from output contracts using lightweight signals,…

Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…

Safe autonomous driving requires both accurate HD map construction and persistent awareness of traffic rules, even when their associated signs are no longer visible. However, existing methods either focus solely on geometric elements or…

We introduce WARP (Weight-space Adaptive Recurrent Prediction), a simple yet powerful model that unifies weight-space learning with linear recurrence to redefine sequence modeling. Unlike conventional recurrent neural networks (RNNs) which…

In this paper, we propose using deep neural architectures (i.e., vision transformers and ResNet) as heuristics for sequential decision-making in robotic manipulation problems. This formulation enables predicting the subset of objects that…

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…

Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging.…

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…