相关论文: Merging Decision Transformers: Weight Averaging fo…

Text embeddings are vital for tasks such as text retrieval and semantic textual similarity (STS). Recently, the advent of pretrained language models, along with unified benchmarks like the Massive Text Embedding Benchmark (MTEB), has…

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…

While reinforcement learning has achieved remarkable successes in several domains, its real-world application is limited due to many methods failing to generalise to unfamiliar conditions. In this work, we consider the problem of…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

The incorporation of prior knowledge into learning is essential in achieving good performance based on small noisy samples. Such knowledge is often incorporated through the availability of related data arising from domains and tasks similar…

Under the federated learning paradigm, a set of nodes can cooperatively train a machine learning model with the help of a centralized server. Such a server is also tasked with assigning a weight to the information received from each node,…

Federated learning is a form of distributed learning with the key challenge being the non-identically distributed nature of the data in the participating clients. In this paper, we extend federated learning to the setting where multiple…

Large language models are capable of in-context learning, the ability to perform new tasks at test time using a handful of input-output examples, without parameter updates. We develop a universal approximation theory to elucidate how…

Multi-task learning of dense prediction tasks, by sharing both the encoder and decoder, as opposed to sharing only the encoder, provides an attractive front to increase both accuracy and computational efficiency. When the tasks are similar,…

Enabling robots to solve multiple manipulation tasks has a wide range of industrial applications. While learning-based approaches enjoy flexibility and generalizability, scaling these approaches to solve such compositional tasks remains a…

This work focuses on learning useful and robust deep world models using multiple, possibly unreliable, sensors. We find that current methods do not sufficiently encourage a shared representation between modalities; this can cause poor…

How can we build generalist robot systems? Scale may not be enough due to the significant multimodality of robotics tasks, lack of easily accessible data and the challenges of deploying on physical hardware. Meanwhile, most deployed robotic…

In this paper we present an unsupervised method to learn the weights with which the scores of multiple classifiers must be combined in classifier fusion settings. We also introduce a novel metric for ranking instances based on an index…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

This paper presents a novel method that allows a machine learning algorithm following the transformation-based learning paradigm \cite{brill95:tagging} to be applied to multiple classification tasks by training jointly and simultaneously on…

In batch reinforcement learning, there can be poorly explored state-action pairs resulting in poorly learned, inaccurate models and poorly performing associated policies. Various regularization methods can mitigate the problem of learning…

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…

The success of large language models has garnered widespread attention for model merging techniques, especially training-free methods which combine model capabilities within the parameter space. However, two challenges remain: (1) uniform…

One simplifying assumption in existing and well-performing task allocation methods is that the robots are single-tasking: each robot operates on a single task at any given time. While this assumption is harmless to make in some situations,…

The state of the art in machine translation (MT) is governed by neural approaches, which typically provide superior translation accuracy over statistical approaches. However, on the closely related task of word alignment, traditional…