相关论文: RT-1: Robotics Transformer for Real-World Control …

While video action recognition has been an active area of research for several years, zero-shot action recognition has only recently started gaining traction. In this work, we propose a novel end-to-end trained transformer model which is…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic models are able to interpret complex tasks using language…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

Transformer based models have shown remarkable capabilities in sequence learning across a wide range of tasks, often performing well on specific task by leveraging input-output examples. Despite their empirical success, a comprehensive…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

In many real-world scenarios, data to train machine learning models becomes available over time. Unfortunately, these models struggle to continually learn new concepts without forgetting what has been learnt in the past. This phenomenon is…

Transformer is a deep neural network that employs a self-attention mechanism to comprehend the contextual relationships within sequential data. Unlike conventional neural networks or updated versions of Recurrent Neural Networks (RNNs) such…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…

Currently, domestic service robots have an insufficient ability to interact naturally through language. This is because understanding human instructions is complicated by various ambiguities and missing information. In existing methods, the…

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…

Meta-learning algorithms enable rapid adaptation to new tasks with minimal data, a critical capability for real-world robotic systems. This paper evaluates Model-Agnostic Meta-Learning (MAML) combined with Trust Region Policy Optimization…

Large Transformers have achieved state-of-the-art performance across many tasks. Most open-source libraries on scaling Transformers focus on improving training or inference with better parallelization. In this work, we present TorchScale,…

To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to train monolithic neural network policies across such large…

What if artificial intelligence could not only solve problems for which it was trained but also learn to teach itself to solve new problems (i.e., meta-learn)? In this study, we demonstrate that a pre-trained transformer fine-tuned with…

Zero-shot learning methods typically assume that the new, unseen classes encountered during deployment come from the same distribution as the the classes in the training set. However, real-world scenarios often involve class distribution…

The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics…

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situations -- is successfully leveraged by humans to handle novel…

Transformers have made significant strides across various artificial intelligence domains, including natural language processing, computer vision, and audio processing. This success has naturally garnered considerable interest from both…