Related papers: Bimanual Robot Manipulation via Multi-Agent In-Con…

Large Language Models (LLMs) have demonstrated impressive in-context learning (ICL) capabilities from few-shot demonstration exemplars. While recent learning-based demonstration selection methods have proven beneficial to ICL by choosing…

Predicting simple function classes has been widely used as a testbed for developing theory and understanding of the trained Transformer's in-context learning (ICL) ability. In this paper, we revisit the training of Transformers on linear…

In-context learning (ICL) refers to the process of adding a small number of localized examples from a training set of labelled data to an LLM's prompt with an objective to effectively control the generative process seeking to improve the…

In-context learning (ICL) performs tasks by prompting a large language model (LLM) using an instruction and a small set of annotated examples called demonstrations. Recent work has shown that precise details of the inputs used in the ICL…

Large language models (LLMs) can adapt to new tasks via in-context learning (ICL) without parameter updates, making them powerful learning engines for fast adaptation. While extensive research has examined ICL as a few-shot learner, whether…

The predictions of Large Language Models (LLMs) on downstream tasks often improve significantly when including examples of the input--label relationship in the context. However, there is currently no consensus about how this in-context…

In-Context Learning (ICL) is an intriguing ability of large language models (LLMs). Despite a substantial amount of work on its behavioral aspects and how it emerges in miniature setups, it remains unclear which mechanism assembles task…

Large Language Models (LLMs) have the impressive ability to perform in-context learning (ICL) from only a few examples, but the success of ICL varies widely from task to task. Thus, it is important to quickly determine whether ICL is…

In-context learning (ICL) is an important yet not fully understood ability of pre-trained large language models (LLMs). It can greatly enhance task performance using a few examples, termed demonstrations, without fine-tuning. Although…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

In-context learning (ICL) is now a common method for teaching large language models (LLMs) new tasks: given labeled examples in the input context, the LLM learns to perform the task without weight updates. Do models guided via ICL infer the…

In-context learning (ICL) enables large language models (LLMs) to perform downstream tasks through advanced prompting and high-quality demonstrations. However, traditional ICL paradigms encounter significant limitations in complex reasoning…

In-context learning (ICL) exhibits dual operating modes: task learning, i.e., acquiring a new skill from in-context samples, and task retrieval, i.e., locating and activating a relevant pretrained skill. Recent theoretical work investigates…

Despite the rapid recent progress in creating accurate and compact in-context learners, most recent work focuses on in-context learning (ICL) for tasks in English. However, the ability to interact with users of languages outside English…

Large language models (LLMs) have become the norm in natural language processing (NLP), excelling in few-shot in-context learning (ICL) with their remarkable abilities. Nonetheless, the success of ICL largely hinges on the choice of…

Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical architectures improve temporal reasoning and bilateral imitation…

The emergent ability of Large Language Models to use a small number of examples to learn to perform in novel domains and tasks, also called in-context learning (ICL). In this work, we show that a much smaller model can be trained to perform…

In-context Learning (ICL) has emerged as a powerful paradigm for performing natural language tasks with Large Language Models (LLM) without updating the models' parameters, in contrast to the traditional gradient-based finetuning. The…

The emergence of in-context learning (ICL) enables large pre-trained language models (PLMs) to make predictions for unseen inputs without updating parameters. Despite its potential, ICL's effectiveness heavily relies on the quality,…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…