Related papers: Visual Prompt Guided Unified Pushing Policy
Vision-Language-Action (VLA) models typically map visual observations and linguistic instructions directly to control signals. This "black-box" mapping forces a single forward pass to simultaneously handle instruction interpretation,…
Prompt-based tuning has been proven effective for pretrained language models (PLMs). While most of the existing work focuses on the monolingual prompts, we study the multilingual prompts for multilingual PLMs, especially in the zero-shot…
Pre-trained language models (PLMs) have played an increasing role in multimedia research. In terms of vision-language (VL) tasks, they often serve as a language encoder and still require an additional fusion network for VL reasoning,…
Pre-trained vision-language models (VLMs) have shown remarkable generalization capabilities via prompting, which leverages VLMs as knowledge bases to extract information beneficial for downstream tasks. However, existing methods primarily…
We investigate the efficacy of visual prompting to adapt large-scale models in vision. Following the recent approach from prompt tuning and adversarial reprogramming, we learn a single image perturbation such that a frozen model prompted…
Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs…
Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both…
We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offers completeness guarantee under mild assumptions, and planar…
Model reprogramming adapts pretrained models to downstream tasks by modifying only the input and output spaces. Visual reprogramming (VR) is one instance for vision tasks that adds a trainable noise pattern (i.e., a visual prompt) to input…
Existing vision-language models (VLMs) such as CLIP have showcased an impressive capability to generalize well across various downstream tasks. These models leverage the synergy between visual and textual information, enabling them to…
We investigate whether prompts learned independently for different tasks can be later combined through prompt algebra to obtain a model that supports composition of tasks. We consider Visual Language Models (VLM) with prompt tuning as our…
Guiding the policy of multi-agent reinforcement learning to align with human common sense is a difficult problem, largely due to the complexity of modeling common sense as a reward, especially in complex and long-horizon multi-agent tasks.…
Task generalization has been a long standing challenge in Natural Language Processing (NLP). Recent research attempts to improve the task generalization ability of pre-trained language models by mapping NLP tasks into human-readable…
Decision transformers recast reinforcement learning as a conditional sequence generation problem, offering a simple but effective alternative to traditional value or policy-based methods. A recent key development in this area is the…
Medical vision-language pre-training (Med-VLP) models have recently accelerated the fast-growing medical diagnostics application. However, most Med-VLP models learn task-specific representations independently from scratch, thereby leading…
With the powerful reasoning capabilities of large language models (LLMs) and vision-language models (VLMs), many recent works have explored using them for decision-making. However, most of these approaches rely solely on language-based…
Prompt learning is an effective method to customize Vision-Language Models (VLMs) for various downstream tasks, involving tuning very few parameters of input prompt tokens. Recently, prompt pretraining in large-scale dataset (e.g.,…
Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…
Procedural planning aims to implement complex high-level goals by decomposition into sequential simpler low-level steps. Although procedural planning is a basic skill set for humans in daily life, it remains a challenge for large language…
Policy steering is an emerging way to adapt robot behaviors at deployment-time: a learned verifier analyzes low-level action samples proposed by a pre-trained policy (e.g., diffusion policy) and selects only those aligned with the task.…