相关论文: Moment-based Adversarial Training for Embodied Lan…

Human-to-human conversation is not just talking and listening. It is an incremental process where participants continually establish a common understanding to rule out misunderstandings. Current language understanding methods for…

Foundation models are rapidly improving the capability of robots in performing everyday tasks autonomously such as meal preparation, yet robots will still need to be instructed by humans due to model performance, the difficulty of capturing…

Key challenges for the deployment of reinforcement learning (RL) agents in the real world are the discovery, representation and reuse of skills in the absence of a reward function. To this end, we propose a novel approach to learn a…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

Distributed representations of words which map each word to a continuous vector have proven useful in capturing important linguistic information not only in a single language but also across different languages. Current unsupervised…

Benefiting from language flexibility and compositionality, humans naturally intend to use language to command an embodied agent for complex tasks such as navigation and object manipulation. In this work, we aim to fill the blank of the last…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

We provide an approach for learning deep neural net representations of models described via conditional moment restrictions. Conditional moment restrictions are widely used, as they are the language by which social scientists describe the…

There has been a recent paradigm shift in robotics to data-driven learning for planning and control. Due to large number of experiences required for training, most of these approaches use a self-supervised paradigm: using sensors to measure…

Embodied intelligence seamlessly integrates vision, language, and action.~However, most multimodal robotic models rely on massive fine-tuning, incurring high time and hardware costs.~To address this, we introduce RoboBERT, an end-to-end…

Recently, substantial progress has been made in language modeling by using deep neural networks. However, in practice, large scale neural language models have been shown to be prone to overfitting. In this paper, we present a simple yet…

Adversarial training provides a means of regularizing supervised learning algorithms while virtual adversarial training is able to extend supervised learning algorithms to the semi-supervised setting. However, both methods require making…

Knowledge distillation (KD) has been shown to be highly effective in guiding a student model with a larger teacher model and achieving practical benefits in improving the computational and memory efficiency for large language models (LLMs).…

To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…

For service robots to become general-purpose in everyday household environments, they need not only a large library of primitive skills, but also the ability to quickly learn novel tasks specified by users. Fine-tuning neural networks on a…

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…

Embodied agents operating in household environments must interpret ambiguous and under-specified human instructions. A capable household robot should recognize ambiguity and ask relevant clarification questions to infer the user intent…

In previous works, neural sequence models have been shown to improve significantly if external prior knowledge can be provided, for instance by allowing the model to access the embeddings of explicit features during both training and…

Robotic reinforcement learning (RL) holds the promise of enabling robots to learn complex behaviors through experience. However, realizing this promise for long-horizon tasks in the real world requires mechanisms to reduce human burden in…

Language-conditioned robotic learning has significantly enhanced robot adaptability by enabling a single model to execute diverse tasks in response to verbal commands. Despite these advancements, security vulnerabilities within this domain…