相关论文: Perceiver-Actor: A Multi-Task Transformer for Robo…

Recently, a variety of acoustic tasks and related applications arised. For many acoustic tasks, the labeled data size may be limited. To handle this problem, we propose an unsupervised pre-training method using Transformer based encoder to…

Pretraining Vision Transformers (ViTs) has achieved great success in visual recognition. A following scenario is to adapt a ViT to various image and video recognition tasks. The adaptation is challenging because of heavy computation and…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation by leveraging large pretrained vision-language backbones. However, most existing VLAs rely primarily on 2D visual representations,…

Human infants learn language while interacting with their environment in which their caregivers may describe the objects and actions they perform. Similar to human infants, artificial agents can learn language while interacting with their…

Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…

The advancement of large Vision-Language-Action (VLA) models has significantly improved robotic manipulation in terms of language-guided task execution and generalization to unseen scenarios. While existing VLAs adapted from pretrained…

Human behavior understanding requires looking at minute details in the large context of a scene containing multiple input modalities. It is necessary as it allows the design of more human-like machines. While transformer approaches have…

Transformer has achieved great successes in learning vision and language representation, which is general across various downstream tasks. In visual control, learning transferable state representation that can transfer between different…

A rich representation is key to general robotic manipulation, but existing approaches to representation learning require large amounts of multimodal demonstrations. In this work we propose PLEX, a transformer-based architecture that learns…

Tool learning empowers large language models (LLMs) as agents to use external tools and extend their utility. Existing methods employ one single LLM-based agent to iteratively select and execute tools, thereafter incorporating execution…

This paper strives to recognize individual actions and group activities from videos. While existing solutions for this challenging problem explicitly model spatial and temporal relationships based on location of individual actors, we…

Recent advancements in attention mechanisms have replaced recurrent neural networks and its variants for machine translation tasks. Transformer using attention mechanism solely achieved state-of-the-art results in sequence modeling. Neural…

User interface modeling is inherently multimodal, which involves several distinct types of data: images, structures and language. The tasks are also diverse, including object detection, language generation and grounding. In this paper, we…

Imitation learning enables robots to acquire complex manipulation skills from human demonstrations, but current methods rely solely on low-level sensorimotor data while ignoring the rich semantic knowledge humans naturally possess about…

Large Language Model (LLM) agents, capable of performing a broad range of actions, such as invoking tools and controlling robots, show great potential in tackling real-world challenges. LLM agents are typically prompted to produce actions…

Transformers have been matching deep convolutional networks for vision architectures in recent works. Most work is focused on getting the best results on large-scale benchmarks, and scaling laws seem to be the most successful strategy:…

We show that off-the-shelf text-based Transformers, with no additional training, can perform few-shot in-context visual imitation learning, mapping visual observations to action sequences that emulate the demonstrator's behaviour. We…

Self-supervised tasks have been utilized to build useful representations that can be used in downstream tasks when the annotation is unavailable. In this paper, we introduce a self-supervised video representation learning method based on…

Leveraging sensing modalities across diverse spatial and temporal resolutions can improve performance of robotic manipulation tasks. Multi-spatial resolution sensing provides hierarchical information captured at different spatial scales and…

Algorithms for the action segmentation task typically use temporal models to predict what action is occurring at each frame for a minute-long daily activity. Recent studies have shown the potential of Transformer in modeling the relations…