相关论文: Embodied BERT: A Transformer Model for Embodied, L…

Contextual word embeddings (e.g. GPT, BERT, ELMo, etc.) have demonstrated state-of-the-art performance on various NLP tasks. Recent work with the multilingual version of BERT has shown that the model performs very well in zero-shot and…

Attention based language models have become a critical component in state-of-the-art natural language processing systems. However, these models have significant computational requirements, due to long training times, dense operations and…

Language model pre-training has proven to be useful in learning universal language representations. As a state-of-the-art language model pre-training model, BERT (Bidirectional Encoder Representations from Transformers) has achieved amazing…

While video-generation-based embodied world models have gained increasing attention, their reliance on large-scale embodied interaction data remains a key bottleneck. The scarcity, difficulty of collection, and high dimensionality of…

We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…

Embodied agents are expected to perform more complicated tasks in an interactive environment, with the progress of Embodied AI in recent years. Existing embodied tasks including Embodied Referring Expression (ERE) and other QA-form tasks…

In recent years, with the growing amount of biomedical documents, coupled with advancement in natural language processing algorithms, the research on biomedical named entity recognition (BioNER) has increased exponentially. However, BioNER…

Most pre-trained language models (PLMs) construct word representations at subword level with Byte-Pair Encoding (BPE) or its variations, by which OOV (out-of-vocab) words are almost avoidable. However, those methods split a word into…

As robotic agents increasingly assist humans in reality, quadruped robots offer unique opportunities for interaction in complex scenarios due to their agile movement. However, building agents that can autonomously navigate, adapt, and…

In English semantic similarity tasks, classic word embedding-based approaches explicitly model pairwise "interactions" between the word representations of a sentence pair. Transformer-based pretrained language models disregard this notion,…

We introduce EELBERT, an approach for compression of transformer-based models (e.g., BERT), with minimal impact on the accuracy of downstream tasks. This is achieved by replacing the input embedding layer of the model with dynamic, i.e.…

We introduce HUBERT which combines the structured-representational power of Tensor-Product Representations (TPRs) and BERT, a pre-trained bidirectional Transformer language model. We show that there is shared structure between different NLP…

We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructions. Previous works based on rule-based language parsing or…

The pre-trained language model is trained on large-scale unlabeled text and can achieve state-of-the-art results in many different downstream tasks. However, the current pre-trained language model is mainly concentrated in the Chinese and…

Embodied cognition argues that intelligence arises from sensorimotor interaction rather than passive observation. It raises an intriguing question: do modern vision-language models (VLMs), trained largely in a disembodied manner, exhibit…

This letter introduces ERRA, an embodied learning architecture that enables robots to jointly obtain three fundamental capabilities (reasoning, planning, and interaction) for solving long-horizon language-conditioned manipulation tasks.…

We present MetricBERT, a BERT-based model that learns to embed text under a well-defined similarity metric while simultaneously adhering to the ``traditional'' masked-language task. We focus on downstream tasks of learning similarities for…

Vision-language-action (VLA) models have significantly advanced robotic learning, enabling training on large-scale, cross-embodiment data and fine-tuning for specific robots. However, state-of-the-art autoregressive VLAs struggle with…

The Bidirectional Encoder Representations from Transformers (BERT) is currently one of the most important and state-of-the-art models for natural language. However, it has also been shown that for domain-specific tasks it is helpful to…

The recently proposed ALFRED challenge task aims for a virtual robotic agent to complete complex multi-step everyday tasks in a virtual home environment from high-level natural language directives, such as "put a hot piece of bread on a…