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

Vision-Language-Action (VLA) models have recently enabled embodied agents to perform increasingly complex tasks by jointly reasoning over visual, linguistic, and motor modalities. However, we find that the prevailing notion of…

Spoken language instructions are ubiquitous in agent collaboration. However, in real-world human-robot collaboration, following human spoken instructions can be challenging due to various speaker and environmental factors, such as…

Training models to map natural language instructions to programs given target world supervision only requires searching for good programs at training time. Search is commonly done using beam search in the space of partial programs or…

Recently, incorporating natural language instructions into reinforcement learning (RL) to learn semantically meaningful representations and foster generalization has caught many concerns. However, the semantical information in language…

Policy-gradient methods have received increased attention recently as a mechanism for learning to act in partially observable environments. They have shown promise for problems admitting memoryless policies but have been less successful…

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…

Multimodal representation learning has shown promising improvements on various vision-language tasks. Most existing methods excel at building global-level alignment between vision and language while lacking effective fine-grained image-text…

We present a novel approach to efficiently learn a simultaneous translation model with coupled programmer-interpreter policies. First, wepresent an algorithmic oracle to produce oracle READ/WRITE actions for training bilingual…

Deploying Multimodal Large Language Models as the brain of embodied agents remains challenging, particularly under long-horizon observations and limited context budgets. Existing memory assisted methods often rely on textual summaries,…

Learning a data-driven spatio-temporal semantic representation of the objects is the key to coherent and consistent labelling in video. This paper proposes to achieve semantic video object segmentation by learning a data-driven…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

Semantic parsing aims at translating natural language (NL) utterances onto machine-interpretable programs, which can be executed against a real-world environment. The expensive annotation of utterance-program pairs has long been…

Common language models typically predict the next word given the context. In this work, we propose a method that improves language modeling by learning to align the given context and the following phrase. The model does not require any…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

The interpretation of spatial references is highly contextual, requiring joint inference over both language and the environment. We consider the task of spatial reasoning in a simulated environment, where an agent can act and receive…

It is imperative for Large language models (LLMs) to follow instructions with elaborate requirements (i.e. Complex Instructions Following). Yet, it remains under-explored how to enhance the ability of LLMs to follow complex instructions…

Our goal is to create an interactive natural language interface that efficiently and reliably learns from users to complete tasks in simulated robotics settings. We introduce a neural semantic parsing system that learns new high-level…

We propose a new reinforcement learning algorithm for partially observable Markov decision processes (POMDP) based on spectral decomposition methods. While spectral methods have been previously employed for consistent learning of (passive)…

In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

Structure-guided image completion aims to inpaint a local region of an image according to an input guidance map from users. While such a task enables many practical applications for interactive editing, existing methods often struggle to…