Related papers: Bimanual Robot Manipulation via Multi-Agent In-Con…
In-context learning (ICL) derives its power from enabling Large Language Models to adapt to new tasks via prompt-based reasoning alone, entirely bypassing the need for parameter updates. Existing theories primarily study ICL in single-task…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
In-Context Learning (ICL) enables transformer-based language models to adapt to new tasks by conditioning on demonstration examples. However, traditional example-driven in-context learning lacks explicit modules for knowledge retrieval and…
In-context learning (ICL) improves language models' performance on a variety of NLP tasks by simply demonstrating a handful of examples at inference time. It is not well understood why ICL ability emerges, as the model has never been…
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…
While many-shot ICL achieves remarkable performance, prior studies of its scaling behavior have mainly focused on non-reasoning tasks. In this work, we study many-shot ICL on reasoning tasks, with a particular focus on many-shot…
In-context learning (ICL) ability has emerged with the increasing scale of large language models (LLMs), enabling them to learn input-label mappings from demonstrations and perform well on downstream tasks. However, under the standard ICL…
In-Context Learning (ICL) enables pretrained LLMs to adapt to downstream tasks by conditioning on a small set of input-output demonstrations, without any parameter updates. Although there have been many theoretical efforts to explain how…
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…
Developing general-purpose robots capable of autonomously operating in human living environments requires the ability to adapt to continuously evolving task conditions. However, adapting high-dimensional coordinated bimanual skills to novel…
Recent advances in large language models (LLMs) have shown that Chain-of-Thought (CoT) reasoning can substantially improve performance on complex reasoning tasks. At the same time, In-Context Learning (ICL) has become an important mechanism…
Regression and Bayesian accounts of in-context learning (ICL) explain how demonstrations can induce predictors, while mechanistic analyses often identify compact activation directions that steer prompted behavior. However, it remains…
In-Context Learning (ICL) is a phenomenon where task learning occurs through a prompt sequence without the necessity of parameter updates. ICL in Multi-Headed Attention (MHA) with absolute positional embedding has been the focus of more…
Large language models (LLMs) exhibit an intriguing ability to learn a novel task from in-context examples presented in a demonstration, termed in-context learning (ICL). Understandably, a swath of research has been dedicated to uncovering…
Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…
We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation. Bi-LAT leverages joint position, velocity, and torque data…
In-Context Learning (ICL) is an important paradigm for adapting Large Language Models (LLMs) to downstream tasks through a few demonstrations. Despite the great success of ICL, the limitation of the demonstration number may lead to…
Understanding in-context learning (ICL) capability that enables large language models (LLMs) to excel in proficiency through demonstration examples is of utmost importance. This importance stems not only from the better utilization of this…
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…
Vision language models (VLMs) show promise in medical diagnosis, but their performance across demographic subgroups when using in-context learning (ICL) remains poorly understood. We examine how the demographic composition of demonstration…