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

Natural language processing covers a wide variety of tasks predicting syntax, semantics, and information content, and usually each type of output is generated with specially designed architectures. In this paper, we provide the simple…

Building generalized models that can solve many computer vision tasks simultaneously is an intriguing direction. Recent works have shown image itself can be used as a natural interface for general-purpose visual perception and demonstrated…

We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias.…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

In this paper, we explore the possibility of building a unified foundation model that can be adapted to both vision-only and text-only tasks. Starting from BERT and ViT, we design a unified transformer consisting of modality-specific…

The use of multi-camera views simultaneously has been shown to improve the generalization capabilities and performance of visual policies. However, the hardware cost and design constraints in real-world scenarios can potentially make it…

Policies for complex visual tasks have been successfully learned with deep reinforcement learning, using an approach called deep Q-networks (DQN), but relatively large (task-specific) networks and extensive training are needed to achieve…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Multi-task learning aims to learn multiple tasks jointly by exploiting their relatedness to improve the generalization performance for each task. Traditionally, to perform multi-task learning, one needs to centralize data from all the tasks…

Real-world clinical data is inherently multimodal, providing complementary evidence that mirrors the practical necessity of jointly assessing multiple related outcomes. Although multi-task learning can improve efficiency by sharing…

While a general embodied agent must function as a unified system, current methods are built on isolated models for understanding, world modeling, and control. This fragmentation prevents unifying multimodal generative capabilities and…

We identify an issue in multi-task learnable compression, in which a representation learned for one task does not positively contribute to the rate-distortion performance of a different task as much as expected, given the estimated amount…

While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…

Multi-task learning (MTL) is a powerful machine learning paradigm designed to leverage shared knowledge across tasks to improve generalization and performance. Previous works have proposed approaches to MTL that can be divided into feature…

Feature transformation methods aim to find an optimal mathematical feature-feature crossing process that generates high-value features and improves the performance of downstream machine learning tasks. Existing frameworks, though designed…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

Pretraining plays a pivotal role in acquiring generalized knowledge from large-scale data, achieving remarkable successes as evidenced by large models in CV and NLP. However, progress in the graph domain remains limited due to fundamental…

In numerous artificial intelligence applications, the collaborative efforts of multiple intelligent agents are imperative for the successful attainment of target objectives. To enhance coordination among these agents, a distributed…

Existing unified image segmentation models either employ a unified architecture across multiple tasks but use separate weights tailored to each dataset, or apply a single set of weights to multiple datasets but are limited to a single task.…