相关论文: Behavior Transformers: Cloning $k$ modes with one …

Inference-time computation techniques, analogous to human System 2 Thinking, have recently become popular for improving model performances. However, most existing approaches suffer from several limitations: they are modality-specific (e.g.,…

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model…

Behavioural cloning is an imitation learning technique that teaches an agent how to behave via expert demonstrations. Recent approaches use self-supervision of fully-observable unlabelled snapshots of the states to decode state pairs into…

The Transformer architecture has been successful across many domains, including natural language processing, computer vision and speech recognition. In keyword spotting, self-attention has primarily been used on top of convolutional or…

This work introduces the Multimodal Diffusion Transformer (MDT), a novel diffusion policy framework, that excels at learning versatile behavior from multimodal goal specifications with few language annotations. MDT leverages a…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…

In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

While modern Transformer-based language models (LMs) have achieved major success in multi-task generalization, they often struggle to capture long-range dependencies within their context window. This work introduces a novel approach using…

With the growth of the academic engines, the mining and analysis acquisition of massive researcher data, such as collaborator recommendation and researcher retrieval, has become indispensable. It can improve the quality of services and…

In this work, we propose an LLM-based BT generation framework to leverage the strengths of both for sequential manipulation planning. To enable human-robot collaborative task planning and enhance intuitive robot programming by nonexperts,…

The Transformer is a highly successful deep learning model that has revolutionised the world of artificial neural networks, first in natural language processing and later in computer vision. This model is based on the attention mechanism…

Recent research has explored methods for updating and modifying factual knowledge in large language models, often focusing on specific multi-layer perceptron blocks. This study expands on this work by examining the effectiveness of existing…

It is desirable to predict the behavior of traffic participants conditioned on different planned trajectories of the autonomous vehicle. This allows the downstream planner to estimate the impact of its decisions. Recent approaches for…

Transformers have become one of the dominant architectures in deep learning, particularly as a powerful alternative to convolutional neural networks (CNNs) in computer vision. However, Transformer training and inference in previous works…

Recommender systems often use text-side information to improve their predictions, especially in cold-start or zero-shot recommendation scenarios, where traditional collaborative filtering approaches cannot be used. Many approaches to…

One of the key factors in language productivity and human cognition is the ability of systematic compositionality, which refers to understanding composed unseen examples of seen primitives. However, recent evidence reveals that the…

With the increasing presence of robots in our every-day environments, improving their social skills is of utmost importance. Nonetheless, social robotics still faces many challenges. One bottleneck is that robotic behaviors need to be often…

Large language models (LLMs) exhibit in-context learning abilities which enable the same model to perform several tasks without any task-specific training. In contrast, traditional adaptation approaches, such as fine-tuning, modify the…

Adapting large pre-trained models to unseen tasks under tight data and compute budgets remains challenging. Meta-learning approaches explicitly learn good initializations, but they require an additional meta-training phase over many tasks,…