相关论文: LIBERO: Benchmarking Knowledge Transfer for Lifelo…

Reliable benchmarking is critical for advancing Vision-Language-Action (VLA) models, as it reveals their generalization, robustness, and alignment of perception with language-driven manipulation tasks. However, existing benchmarks often…

Meta-Black-Box Optimization (MetaBBO) garners attention due to its success in automating the configuration and generation of black-box optimizers, significantly reducing the human effort required for optimizer design and discovering…

Humans can continuously learn new knowledge. However, machine learning models suffer from drastic dropping in performance on previous tasks after learning new tasks. Cognitive science points out that the competition of similar knowledge is…

Operating effectively in complex environments while complying with specified constraints is crucial for the safe and successful deployment of robots that interact with and operate around people. In this work, we focus on generating…

An important long-term goal in machine learning systems is to build learning agents that, like humans, can learn many tasks over their lifetime, and moreover use information from these tasks to improve their ability to do so efficiently. In…

Adjusting the outdated knowledge of large language models (LLMs) after deployment remains a major challenge. This difficulty has spurred the development of knowledge editing, which seeks to accurately and efficiently modify a model's…

Transferring policies learned in simulation to the real world is a promising strategy for acquiring robot skills at scale. However, sim-to-real approaches typically rely on manual design and tuning of the task reward function as well as the…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Despite the advancement of machine learning techniques in recent years, state-of-the-art systems lack robustness to "real world" events, where the input distributions and tasks encountered by the deployed systems will not be limited to the…

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…

World model-based policy evaluation is a practical proxy for testing real-world robot control by rolling out candidate actions in action-conditioned video diffusion models. As these models increasingly adopt latent diffusion modeling (LDM),…

Pretrained language models (PTLMs) are typically learned over a large, static corpus and further fine-tuned for various downstream tasks. However, when deployed in the real world, a PTLM-based model must deal with data distributions that…

Human decision-making belongs to the foundation of our society and civilization, but we are on the verge of a future where much of it will be delegated to artificial intelligence. The arrival of Large Language Models (LLMs) has transformed…

As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring sequenced interactions with visually…

In recent years, Large Language Models (LLMs) have demonstrated high reasoning capabilities, drawing attention for their applications as agents in various decision-making processes. One notably promising application of LLM agents is robotic…

Lifelong learning agents aim to learn multiple tasks sequentially over a lifetime. This involves the ability to exploit previous knowledge when learning new tasks and to avoid forgetting. Modulating masks, a specific type of parameter…

Despite groundbreaking progress in reinforcement learning for robotics, gameplay, and other complex domains, major challenges remain in applying reinforcement learning to the evolving, open-world problems often found in critical application…

Methods for learning from demonstration (LfD) have shown success in acquiring behavior policies by imitating a user. However, even for a single task, LfD may require numerous demonstrations. For versatile agents that must learn many tasks…

We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the latent space of a learned world model and transfers these skills…