Related papers: Zero-shot Imitation Learning by Latent Topology Ma…

A common problem for agents operating in real-world environments is that the response of an environment to their actions may be non-deterministic and observed through noise. This renders environmental state and progress towards completing a…

The Zero-Shot Learning (ZSL) task attempts to learn concepts without any labeled data. Unlike traditional classification/detection tasks, the evaluation environment is provided unseen classes never encountered during training. As such, it…

Zero-shot learning (ZSL) is a promising approach to generalizing a model to categories unseen during training by leveraging class attributes, but challenges remain. Recently, methods using generative models to combat bias towards classes…

We present a novel latent embedding model for learning a compatibility function between image and class embeddings, in the context of zero-shot classification. The proposed method augments the state-of-the-art bilinear compatibility model…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…

In this paper, hypernetworks are trained to generate behaviors across a range of unseen task conditions, via a novel TD-based training objective and data from a set of near-optimal RL solutions for training tasks. This work relates to meta…

The development of advanced 3D sensors has enabled many objects to be captured in the wild at a large scale, and a 3D object recognition system may therefore encounter many objects for which the system has received no training. Zero-Shot…

Recent progress towards learning from limited supervision has encouraged efforts towards designing models that can recognize novel classes at test time (generalized zero-shot learning or GZSL). GZSL approaches assume knowledge of all…

This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…

This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…

Latent Action Models (LAMs) enable learning from actionless data for applications ranging from robotic control to interactive world models. However, existing LAMs typically focus on short-horizon frame transitions and capture low-level…

Model quantization is a promising approach to compress deep neural networks and accelerate inference, making it possible to be deployed on mobile and edge devices. To retain the high performance of full-precision models, most existing…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Language models (LMs) have shown impressive performance on tasks within their training distribution, but often struggle with structurally novel tasks even when given a small number of in-context task examples. We investigate the…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However, despite the increasing ubiquity of 3D sensors, the…

Latent action models (LAMs) offer a promising path to pre-training embodied agents on large amounts of action-free video. They infer latent actions between consecutive observations that can later be decoded to ground-truth actions using a…

One of the recent developments in deep learning is generalized zero-shot learning (GZSL), which aims to recognize objects from both seen and unseen classes, when only the labeled examples from seen classes are provided. Over the past couple…

Zero-shot learning (ZSL) aims to recognize instances of unseen classes solely based on the semantic descriptions of the classes. Existing algorithms usually formulate it as a semantic-visual correspondence problem, by learning mappings from…

Zero-Shot Learning (ZSL) aims to classify a test instance from an unseen category based on the training instances from seen categories, in which the gap between seen categories and unseen categories is generally bridged via visual-semantic…