相关论文: Transformer-based deep imitation learning for dual…

The key to a Transformer model is the self-attention mechanism, which allows the model to analyze an entire sequence in a computationally efficient manner. Recent work has suggested the possibility that general attention mechanisms used by…

Transformer-based deep learning models have achieved state-of-the-art performance across numerous language and vision tasks. While the self-attention mechanism, a core component of transformers, has proven capable of handling complex data…

Recent advancements in attention mechanisms have replaced recurrent neural networks and its variants for machine translation tasks. Transformer using attention mechanism solely achieved state-of-the-art results in sequence modeling. Neural…

Transformer is a deep neural network that employs a self-attention mechanism to comprehend the contextual relationships within sequential data. Unlike conventional neural networks or updated versions of Recurrent Neural Networks (RNNs) such…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…

Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and…

The Transformer is a highly successful deep learning model that has revolutionised the world of artificial neural networks, first in natural language processing and later in computer vision. This model is based on the attention mechanism…

Many machine learning tasks such as multiple instance learning, 3D shape recognition, and few-shot image classification are defined on sets of instances. Since solutions to such problems do not depend on the order of elements of the set,…

Transformer architectures deliver state-of-the-art accuracy via dense full-attention, but their quadratic time and memory complexity with respect to sequence length limits practical deployment. Linear attention mechanisms offer linear or…

In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…

Transformers are increasingly dominating multi-modal reasoning tasks, such as visual question answering, achieving state-of-the-art results thanks to their ability to contextualize information using the self-attention and co-attention…

We address the problem of safely solving complex bimanual robot manipulation tasks with sparse rewards. Such challenging tasks can be decomposed into sub-tasks that are accomplishable by different robots concurrently or sequentially for…

Egocentric temporal action segmentation in videos is a crucial task in computer vision with applications in various fields such as mixed reality, human behavior analysis, and robotics. Although recent research has utilized advanced…

Sharing knowledge between tasks is vital for efficient learning in a multi-task setting. However, most research so far has focused on the easier case where knowledge transfer is not harmful, i.e., where knowledge from one task cannot…

Transformers have achieved remarkable success in sequence modeling and beyond but suffer from quadratic computational and memory complexities with respect to the length of the input sequence. Leveraging techniques include sparse and linear…

Transformers have revolutionized deep learning in numerous fields, including natural language processing, computer vision, and audio processing. Their strength lies in their attention mechanism, which allows for the discovering of complex…

Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…

Vision transformers have shown excellent performance in computer vision tasks. As the computation cost of their self-attention mechanism is expensive, recent works tried to replace the self-attention mechanism in vision transformers with…

With the development of the self-attention mechanism, the Transformer model has demonstrated its outstanding performance in the computer vision domain. However, the massive computation brought from the full attention mechanism became a…

The Transformer and its variants have been proven to be efficient sequence learners in many different domains. Despite their staggering success, a critical issue has been the enormous number of parameters that must be trained (ranging from…