Related papers: Action Tokenizer Matters in In-Context Imitation L…
Large Language Models (LLMs) exhibit In-Context Learning (ICL), which enables the model to perform new tasks conditioning only on the examples provided in the context without updating the model's weights. While ICL offers fast adaptation…
Policy learning under action constraints plays a central role in ensuring safe behaviors in various robot control and resource allocation applications. In this paper, we study a new problem setting termed Action-Constrained Imitation…
Large Language Models (LLMs) have demonstrated remarkable abilities, one of the most important being in-context learning (ICL). With ICL, LLMs can derive the underlying rule from a few demonstrations and provide answers that comply with the…
Robot control for tactile feedback-based manipulation can be difficult due to the modeling of physical contacts, partial observability of the environment, and noise in perception and control. This work focuses on solving partial…
In-context imitation learning allows robots to acquire skills from demonstrations, yet one-shot trajectory generation remains fragile under environmental variation. We propose SAIL, a framework that reframes robot imitation as an iterative…
The instrumental-variables (IV) setting is standard for partial identification of causal effects when unobserved confounding makes point identification impossible. Existing approaches face methodological bottlenecks: closed-form bound…
In-Context Learning (ICL) enables Large Language Models (LLMs) to perform tasks without parameter updates by conditioning on a few demonstrations provided in the prompt. Despite its success, ICL suffers from several limitations, including…
In-context learning (ICL) refers to a remarkable capability of pretrained large language models, which can learn a new task given a few examples during inference. However, theoretical understanding of ICL is largely under-explored,…
Channel equalization is fundamental for mitigating distortions such as frequency-selective fading and inter-symbol interference. Unlike standard supervised learning approaches that require costly retraining or fine-tuning for each new task,…
We study the problem of offline learning in automated decision systems under the contextual bandits model. We are given logged historical data consisting of contexts, (randomized) actions, and (nonnegative) rewards. A common goal is to…
Autoregressive sequence models, such as Transformer-based vision-language action (VLA) policies, can be tremendously effective for capturing complex and generalizable robotic behaviors. However, such models require us to choose a…
Language models have the ability to perform in-context learning (ICL), allowing them to flexibly adapt their behavior based on context. This contrasts with in-weights learning (IWL), where memorized information is encoded in model…
Pre-trained large language models based on Transformers have demonstrated remarkable in-context learning (ICL) abilities. With just a few demonstration examples, the models can implement new tasks without any parameter updates. However, it…
Numerous studies have demonstrated that the Transformer architecture possesses the capability for in-context learning (ICL). In scenarios involving function approximation, context can serve as a control parameter for the model, endowing it…
Implicit in-context learning (ICL) has newly emerged as a promising paradigm that simulates ICL behaviors in the representation space of Large Language Models (LLMs), aiming to attain few-shot performance at zero-shot cost. However,…
Multimodal in-context learning (ICL) equips Large Vision-language Models (LVLMs) with the ability to adapt to new tasks via multiple user-provided demonstrations, without requiring any model parameter updates. However, its effectiveness is…
We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing methods rely on interactive expert labeling, additional…
Masked image modeling (MIM) has become a leading self-supervised learning strategy. MIMs such as Masked Autoencoder (MAE) learn strong representations by randomly masking input tokens for the encoder to process, with the decoder…
After pre-training by generating the next word conditional on previous words, the Language Model (LM) acquires the ability of In-Context Learning (ICL) that can learn a new task conditional on the context of the given in-context examples…
Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and…