相关论文: Human Action Forecasting by Learning Task Grammars

We present a multi-task learning framework to enable the training of one universal incremental dialogue processing model with four tasks of disfluency detection, language modelling, part-of-speech tagging, and utterance segmentation in a…

In this paper, we tackle the problem of egocentric action anticipation, i.e., predicting what actions the camera wearer will perform in the near future and which objects they will interact with. Specifically, we contribute Rolling-Unrolling…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

Predicting high-fidelity future human poses, from a historically observed sequence, is decisive for intelligent robots to interact with humans. Deep end-to-end learning approaches, which typically train a generic pre-trained model on…

Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in…

A classical approach to abnormal activity detection is to learn a representation for normal activities from the training data and then use this learned representation to detect abnormal activities while testing. Typically, the methods based…

Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…

Learning auxiliary tasks, such as multiple predictions about the world, can provide many benefits to reinforcement learning systems. A variety of off-policy learning algorithms have been developed to learn such predictions, but as yet there…

We propose a hierarchical approach for making long-term predictions of future frames. To avoid inherent compounding errors in recursive pixel-level prediction, we propose to first estimate high-level structure in the input frames, then…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

Programming a robot manipulator should be as intuitive as possible. To achieve that, the paradigm of teaching motion skills by providing few demonstrations has become widely popular in recent years. Probabilistic versions thereof take into…

We present a self-supervised approach using spatio-temporal signals between video frames for action recognition. A two-stream architecture is leveraged to tangle spatial and temporal representation learning. Our task is formulated as both a…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Procedural tasks with multiple ordered steps are ubiquitous in daily life. Recent advances in multimodal large language models (MLLMs) have enabled personal assistants that support daily activities. However, existing systems primarily…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

In real-world settings, robots are expected to assist humans across diverse tasks and still continuously adapt to dynamic changes over time. For example, in domestic environments, robots can proactively help users by fetching needed objects…

Human activities are naturally structured as hierarchies unrolled over time. For action prediction, temporal relations in event sequences are widely exploited by current methods while their semantic coherence across different levels of…

In task-oriented dialogue, a system often needs to follow a sequence of actions, called a workflow, that complies with a set of guidelines in order to complete a task. In this paper, we propose the novel problem of multi-step workflow…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…