相关论文: A System for Morphology-Task Generalization via Un…

Learning long-range behaviors on complex high-dimensional agents is a fundamental problem in robot learning. For such tasks, we argue that transferring learned information from a morphologically simpler agent can massively improve the…

Large Language Model (LLM)-based agents demonstrate strong reasoning and execution capabilities on complex tasks when guided by structured instructions, commonly referred to as workflows. However, existing workflow-assisted agent serving…

One of the long-standing challenges in Artificial Intelligence for learning goal-directed behavior is to build a single agent which can solve multiple tasks. Recent progress in multi-task learning for goal-directed sequential problems has…

Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of…

Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be…

While many unsupervised learning models focus on one family of tasks, either generative or discriminative, we explore the possibility of a unified representation learner: a model which addresses both families of tasks simultaneously. We…

Multi-modal graphs, which integrate diverse multi-modal features and relations, are ubiquitous in real-world applications. However, existing multi-modal graph learning methods are typically trained from scratch for specific graph data and…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

Multi-Task Learning has emerged as a methodology in which multiple tasks are jointly learned by a shared learning algorithm, such as a DNN. MTL is based on the assumption that the tasks under consideration are related; therefore it exploits…

Training long-horizon robotic policies in complex physical environments is essential for many applications, such as robotic manipulation. However, learning a policy that can generalize to unseen tasks is challenging. In this work, we…

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 great success of Convolutional Neural Networks (CNN) for facial attribute prediction relies on a large amount of labeled images. Facial image datasets are usually annotated by some commonly used attributes (e.g., gender), while labels…

Text-to-Image (T2I) diffusion models have shown impressive results in generating visually compelling images following user prompts. Building on this, various methods further fine-tune the pre-trained T2I model for specific tasks. However,…

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…

Multitask learning assumes that models capable of learning from multiple tasks can achieve better quality and efficiency via knowledge transfer, a key feature of human learning. Though, state of the art ML models rely on high customization…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

Humans use different modalities, such as speech, text, images, videos, etc., to communicate their intent and goals with teammates. For robots to become better assistants, we aim to endow them with the ability to follow instructions and…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Recently, maximizing mutual information has emerged as a powerful method for unsupervised graph representation learning. The existing methods are typically effective to capture information from the topology view but ignore the feature view.…

Multi-agent learning has gained increasing attention to tackle distributed machine learning scenarios under constrictions of data exchanging. However, existing multi-agent learning models usually consider data fusion under fixed and…