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

Proactive task-oriented agents must autonomously anticipate user needs, identify actionable opportunities, and trigger software actions at appropriate moments - fundamentally shifting from reactive systems that await explicit instructions.…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Large language models can produce powerful contextual representations that lead to improvements across many NLP tasks. Since these models are typically guided by a sequence of learned self attention mechanisms and may comprise undesired…

Transformers are powerful for sequence modeling. Nearly all state-of-the-art language models and pre-trained language models are based on the Transformer architecture. However, it distinguishes sequential tokens only with the token position…

Temporal convolutions have been the paradigm of choice in action segmentation, which enhances long-term receptive fields by increasing convolution layers. However, high layers cause the loss of local information necessary for frame…

Inspired by the in-context learning mechanism of large language models (LLMs), a new paradigm of generalizable visual prompt-based image editing is emerging. Existing single-reference methods typically focus on style or appearance…

We propose UniT, a Unified Transformer model to simultaneously learn the most prominent tasks across different domains, ranging from object detection to natural language understanding and multimodal reasoning. Based on the transformer…

The ability to generate natural language explanations conditioned on the visual perception is a crucial step towards autonomous agents which can explain themselves and communicate with humans. While the research efforts in image and video…

Transformer-based models have transformed the landscape of natural language processing (NLP) and are increasingly applied to computer vision tasks with remarkable success. These models, renowned for their ability to capture long-range…

Vision Transformers have shown great performance in single tasks such as classification and segmentation. However, real-world problems are not isolated, which calls for vision transformers that can perform multiple tasks concurrently.…

Unconscious biases continue to be prevalent in modern text and media, calling for algorithms that can assist writers with bias correction. For example, a female character in a story is often portrayed as passive and powerless ("She…

Transformers have gained increasing popularity in a wide range of applications, including Natural Language Processing (NLP), Computer Vision and Speech Recognition, because of their powerful representational capacity. However, harnessing…

Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the real world is far from being an easy task. The challenge of…

Transformer is a powerful architecture that achieves superior performance on various sequence learning tasks, including neural machine translation, language understanding, and sequence prediction. At the core of the Transformer is the…

Transformers have proven superior performance for a wide variety of tasks since they were introduced. In recent years, they have drawn attention from the vision community in tasks such as image classification and object detection. Despite…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

Vision-language-action (VLA) reasoning tasks require agents to interpret multimodal instructions, perform long-horizon planning, and act adaptively in dynamic environments. Existing approaches typically train VLA models in an end-to-end…

A domain shift exists between the large-scale, internet data used to train a Vision-Language Model (VLM) and the raw image streams collected by a robot. Existing adaptation strategies require the definition of a closed-set of classes, which…

Transformer is the backbone of modern NLP models. In this paper, we propose RealFormer, a simple and generic technique to create Residual Attention Layer Transformer networks that significantly outperform the canonical Transformer and its…

Deep neural networks based purely on attention have been successful across several domains, relying on minimal architectural priors from the designer. In Human Action Recognition (HAR), attention mechanisms have been primarily adopted on…