Related papers: RICL: Adding In-Context Adaptability to Pre-Traine…

Transformers have demonstrated remarkable in-context learning (ICL) capabilities, adapting to new tasks by simply conditioning on demonstrations without parameter updates. Compelling empirical and theoretical evidence suggests that ICL, as…

In-context learning (ICL) in Large Language Models (LLMs) has emerged as a powerful new learning paradigm. However, its underlying mechanism is still not well understood. In particular, it is challenging to map it to the "standard" machine…

The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse manipulation tasks, yet pretrained policies…

Continual Imitation Learning (CiL) involves extracting and accumulating task knowledge from demonstrations across multiple stages and tasks to achieve a multi-task policy. With recent advancements in foundation models, there has been a…

Vision-language-action (VLA) models demonstrate strong generalization in robotic manipulation but face challenges in complex, real-world tasks. While supervised fine-tuning with demonstrations is constrained by data quality, reinforcement…

Vision-language models (VLMs) are widely assumed to exhibit in-context learning (ICL), a property similar to that of their language-only counterparts. While recent work suggests VLMs can perform multimodal ICL (MM-ICL), studies show they…

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical…

Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…

Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into desired robotic actions. Despite their…

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,…

Many recent language models (LMs) are capable of in-context learning (ICL), manifested in the LMs' ability to perform a new task solely from natural-language instruction. Previous work curating in-context learners assumes that ICL emerges…

Class-incremental learning (CIL) with pre-trained models (PTMs) faces a critical trade-off between efficient adaptation and long-term stability. While analytic learning enables rapid, recursive closed-form updates, its efficacy is often…

Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose…

In-Context Learning (ICL) is suffering from unsatisfactory performance and under-calibration due to high prior bias and unfaithful confidence. Some previous works fine-tuned language models for better ICL performance with enormous datasets…

In this work, we introduce a novel paradigm for generalized In-Context Learning (ICL), termed Indirect In-Context Learning. In Indirect ICL, we explore demonstration selection strategies tailored for two distinct real-world scenarios:…

Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising…

Vision-language-action (VLA) models provide a promising foundation for general-purpose robotics. However, their successful deployment in real-world scenarios requires the ability to continually acquire new skills while retaining previously…

The full potential of large pretrained models remains largely untapped in control domains like robotics. This is mainly because of the scarcity of data and the computational challenges associated with training or fine-tuning these large…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

The integration of language instructions with robotic control, particularly through Vision Language Action (VLA) models, has shown significant potential. However, these systems are often hindered by high computational costs, the need for…