相关论文: Systematic Generalization on gSCAN: What is Nearly…

Instruction-tuned large language models (LLMs) have shown strong performance on a variety of tasks; however, generalizing from synthetic to human-authored instructions in grounded environments remains a challenge for them. In this work, we…

Current graph neural networks (GNNs) lack generalizability with respect to scales (graph sizes, graph diameters, edge weights, etc..) when solving many graph analysis problems. Taking the perspective of synthesizing graph theory programs,…

This paper reviews concepts, modeling approaches, and recent findings along a spectrum of different levels of abstraction of neural network models including generalization across (1) Samples, (2) Distributions, (3) Domains, (4) Tasks, (5)…

As multimodal language models advance, their application to 3D scene understanding is a fast-growing frontier, driving the development of 3D Vision-Language Models (VLMs). Current methods show strong dependence on object detectors,…

Generalized Few-shot Semantic Segmentation (GFSS) aims to segment each image pixel into either base classes with abundant training examples or novel classes with only a handful of (e.g., 1-5) training images per class. Compared to the…

For vision-and-language reasoning tasks, both fully connectionist, end-to-end methods and hybrid, neuro-symbolic methods have achieved high in-distribution performance. In which out-of-distribution settings does each paradigm excel? We…

Evaluating Large Language Models (LLMs) is one of the most critical aspects of building a performant compound AI system. Since the output from LLMs propagate to downstream steps, identifying LLM errors is crucial to system performance. A…

Despite the remarkable success of foundation models, their task-specific fine-tuning paradigm makes them inconsistent with the goal of general perception modeling. The key to eliminating this inconsistency is to use generalist models for…

We develop a set of methods to improve on the results of self-supervised learning using context. We start with a baseline of patch based arrangement context learning and go from there. Our methods address some overt problems such as…

Open-vocabulary 3D scene understanding is crucial for robotics applications, such as natural language-driven manipulation, human-robot interaction, and autonomous navigation. Existing methods for querying 3D Gaussian Splatting often…

This survey provides an overview of the evolution of visually grounded models of spoken language over the last 20 years. Such models are inspired by the observation that when children pick up a language, they rely on a wide range of…

Visual segmentation seeks to partition images, video frames, or point clouds into multiple segments or groups. This technique has numerous real-world applications, such as autonomous driving, image editing, robot sensing, and medical…

Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot's physical surroundings. Such interpretation is known variously as the symbol grounding problem,…

Recent advances in methods focused on the grounding problem have resulted in techniques that can be used to construct a symbolic language associated with a specific domain. Inspired by how humans communicate complex ideas through language,…

Conventional machine learning algorithms have traditionally been designed under the assumption that input data follows a vector-based format, with an emphasis on vector-centric paradigms. However, as the demand for tasks involving set-based…

Generalizing control policies to novel embodiments remains a fundamental challenge in enabling scalable and transferable learning in robotics. While prior works have explored this in locomotion, a systematic study in the context of…

Neural language models (LMs) are arguably less data-efficient than humans from a language acquisition perspective. One fundamental question is why this human-LM gap arises. This study explores the advantage of grounded language acquisition,…

Domain Generalization (DG) is a challenging task in machine learning that requires a coherent ability to comprehend shifts across various domains through extraction of domain-invariant features. DG performance is typically evaluated by…

Artificial Intelligence (AI) has demonstrated unprecedented performance across various domains, and its application to communication systems is an active area of research. While current methods focus on task-specific solutions, the broader…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…