相关论文: FILM: Following Instructions in Language with Modu…

Exploring open-vocabulary video action recognition is a promising venture, which aims to recognize previously unseen actions within any arbitrary set of categories. Existing methods typically adapt pretrained image-text models to the video…

Conventional spoken language understanding systems consist of two main components: an automatic speech recognition module that converts audio to a transcript, and a natural language understanding module that transforms the resulting text…

Pre-trained vision-language models provide a robust foundation for efficient transfer learning across various downstream tasks. In the field of video action recognition, mainstream approaches often introduce additional modules to capture…

Policy learning for partially observed control tasks requires policies that can remember salient information from past observations. In this paper, we present a method for learning policies with internal memory for high-dimensional,…

Continual Learning (CL) enables machine learning models to learn from continuously shifting new training data in absence of data from old tasks. Recently, pretrained vision transformers combined with prompt tuning have shown promise for…

Pretrained large-scale vision-language models such as CLIP have demonstrated excellent generalizability over a series of downstream tasks. However, they are sensitive to the variation of input text prompts and need a selection of prompt…

Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…

The compositional structure of language enables humans to decompose complex phrases and map them to novel visual concepts, showcasing flexible intelligence. While several algorithms exhibit compositionality, they fail to elucidate how…

Recent work has attempted to characterize the structure of semantic memory and the search algorithms which, together, best approximate human patterns of search revealed in a semantic fluency task. There are a number of models that seek to…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

In many cases an intelligent agent may want to learn how to mimic a single observed demonstrated trajectory. In this work we consider how to perform such procedural learning from observation, which could help to enable agents to better use…

We propose a neural sequence-to-sequence model for direction following, a task that is essential to realizing effective autonomous agents. Our alignment-based encoder-decoder model with long short-term memory recurrent neural networks…

In continual learning, where task data arrives in a sequence, fine-tuning on later tasks will often lead to performance degradation on earlier tasks. This is especially pronounced when these tasks come from diverse domains. In this setting,…

This paper investigates continual learning for semantic parsing. In this setting, a neural semantic parser learns tasks sequentially without accessing full training data from previous tasks. Direct application of the SOTA continual learning…

Language-guided navigation is a cornerstone of embodied AI, enabling agents to interpret language instructions and navigate complex environments. However, expert-provided instructions are limited in quantity, while synthesized annotations…

We present a framework for learning hierarchical policies from demonstrations, using sparse natural language annotations to guide the discovery of reusable skills for autonomous decision-making. We formulate a generative model of action…

Large Language models (LLMs) have shown remarkable success in assisting robot learning tasks, i.e., complex household planning. However, the performance of pretrained LLMs heavily relies on domain-specific templated text data, which may be…

Visual Language Models have demonstrated remarkable capabilities across tasks, including visual question answering and image captioning. However, most models rely on text-based instructions, limiting their effectiveness in human-machine…

The large adoption of the self-attention (i.e. transformer model) and BERT-like training principles has recently resulted in a number of high performing models on a large panoply of vision-and-language problems (such as Visual Question…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…