Related papers: LAP: Language-Action Pre-Training Enables Zero-sho…
Transductive zero-shot learning with vision-language models leverages image-image similarities within the dataset to achieve better classification accuracy compared to the inductive setting. However, there is little work that explores the…
The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects…
Learned language-conditioned robot policies often struggle to effectively adapt to new real-world tasks even when pre-trained across a diverse set of instructions. We propose a novel approach for few-shot adaptation to unseen tasks that…
Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…
Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…
Pre-trained vision-language models (VLMs) like CLIP have demonstrated impressive zero-shot performance on a wide range of downstream computer vision tasks. However, there still exists a considerable performance gap between these models and…
Incorporating language comprehension into robotic operations unlocks significant advancements in robotics, but also presents distinct challenges, particularly in executing spatially oriented tasks like pattern formation. This paper…
Despite the surging demands for multilingual task-oriented dialog systems (e.g., Alexa, Google Home), there has been less research done in multilingual or cross-lingual scenarios. Hence, we propose a zero-shot adaptation of task-oriented…
Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation. A common design in current architectures maps language instructions and visual observations to actions in a single forward pass.…
Speech encodes paralinguistic information such as demographics, voice quality, and health. Yet no audio foundation model supports zero-shot or out-of-distribution (OOD) generalization to these tasks. We introduce SLAP (Speaker contrastive…
Current methods in training and benchmarking vision models exhibit an over-reliance on passive, curated datasets. Although models trained on these datasets have shown strong performance in a wide variety of tasks such as classification,…
Vision-Language-Action models (VLAs) hold immense promise for enabling generalist robot manipulation. However, the best way to build them remains an open question. Current approaches often add complexity, such as modifying the existing…
Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world…
Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…
This paper introduces VLAP, a novel approach that bridges pretrained vision models and large language models (LLMs) to make frozen LLMs understand the visual world. VLAP transforms the embedding space of pretrained vision models into the…
Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…
The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…
In Emergent Communication (EC) agents learn to communicate with one another, but the protocols that they develop are specialised to their training community. This observation led to research into Zero-Shot Coordination (ZSC) for learning…
To facilitate zero-shot generalization in taskoriented dialog, this paper proposes Language Models as Data (LAD). LAD is a paradigm for creating diverse and accurate synthetic data which conveys the necessary structural constraints and can…
Zero-shot learning for visual recognition, e.g., object and action recognition, has recently attracted a lot of attention. However, it still remains challenging in bridging the semantic gap between visual features and their underlying…