相关论文: VILT: Video Instructions Linking for Complex Tasks

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Question answering is an important task for autonomous agents and virtual assistants alike and was shown to support the disabled in efficiently navigating an overwhelming environment. Many existing methods focus on observation-based…

In large language models (LLM), in-context learning (ICL) refers to performing new tasks by conditioning on small demonstrations provided in the input context. Recent advances in visual in-context learning (VICL) demonstrate promising…

Multi-task learning (MTL) encapsulates multiple learned tasks in a single model and often lets those tasks learn better jointly. However, when deploying MTL onto those real-world systems that are often resource-constrained or…

Videos serve as a powerful medium to convey ideas, tell stories, and provide detailed instructions, especially through long-format tutorials. Such tutorials are valuable for learning new skills at one's own pace, yet they can be…

Thanks to the emerging of foundation models, the large language and vision models are integrated to acquire the multimodal ability of visual captioning, question answering, etc. Although existing multimodal models present impressive…

Existing referring understanding tasks tend to involve the detection of a single text-referred object. In this paper, we propose a new and general referring understanding task, termed referring multi-object tracking (RMOT). Its core idea is…

Large language models (LLMs) have enabled the automatic generation of step-by-step augmented reality (AR) instructions for a wide range of physical tasks. However, existing LLM-based AR guidance often lacks rich visual augmentations to…

Large language models (LLMs) and large visual language models (LVLMs) have been at the forefront of the artificial intelligence field, particularly for tasks like text generation, video captioning, and question-answering. Typically, it is…

In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few…

Automatic generation of textual video descriptions that are time-aligned with video content is a long-standing goal in computer vision. The task is challenging due to the difficulty of bridging the semantic gap between the visual and…

The potential for agents, whether embodied or software, to learn by observing other agents performing procedures involving objects and actions is rich. Current research on automatic procedure learning heavily relies on action labels or…

Vision-Language-Action (VLA) models aim for general robot learning by aligning action as a modality within powerful Vision-Language Models (VLMs). Existing VLAs rely on end-to-end supervision to implicitly enable the action decoding process…

Large language models have shown impressive few-shot results on a wide range of tasks. However, when knowledge is key for such results, as is the case for tasks such as question answering and fact checking, massive parameter counts to store…

Audio often serves as an auxiliary modality in video understanding tasks of audio-visual large language models (LLMs), merely assisting in the comprehension of visual information. However, a thorough understanding of videos significantly…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

People often watch videos on the web to learn how to cook new recipes, assemble furniture or repair a computer. We wish to enable robots with the very same capability. This is challenging; there is a large variation in manipulation actions…

As information becomes more accessible, user-generated videos are increasing in length, placing a burden on viewers to sift through vast content for valuable insights. This trend underscores the need for an algorithm to extract key video…

Understanding and reasoning about cooking recipes is a fruitful research direction towards enabling machines to interpret procedural text. In this work, we introduce RecipeQA, a dataset for multimodal comprehension of cooking recipes. It…

We propose Anticipative Video Transformer (AVT), an end-to-end attention-based video modeling architecture that attends to the previously observed video in order to anticipate future actions. We train the model jointly to predict the next…