相关论文: PASTA: Pretrained Action-State Transformer Agents

The reasoning abilities of large language models (LLMs) have improved with chain-of-thought (CoT) prompting, allowing models to solve complex tasks stepwise. However, training CoT capabilities requires detailed reasoning data, which is…

Active learning is an iterative labeling process that is used to obtain a small labeled subset, despite the absence of labeled data, thereby enabling to train a model for supervised tasks such as text classification. While active learning…

The past few years have seen rapid progress in combining reinforcement learning (RL) with deep learning. Various breakthroughs ranging from games to robotics have spurred the interest in designing sophisticated RL algorithms and systems.…

Aspect-based Sentiment Analysis (ABSA) aims to determine the sentiment polarity towards an aspect. Because of the expensive and limited labelled data, the pretraining strategy has become the de-facto standard for ABSA. However, there always…

Pre-trained models are nowadays a fundamental component of machine learning research. In continual learning, they are commonly used to initialize the model before training on the stream of non-stationary data. However, pre-training is…

When developing reinforcement learning agents, the standard approach is to train an agent to converge to a fixed policy that is as close to optimal as possible for a single fixed reward function. If different agent behaviour is required in…

Amos et al. (2024) showed that the accuracy of Transformer models in sequence classification can be significantly improved by first pretraining with a masked token prediction objective without external data or augmentation, a procedure…

Adversarial training is one of the most effective defenses against adversarial attacks, but it incurs a high computational cost. In this study, we present the first theoretical analysis suggesting that adversarially pretrained transformers…

Test-time adaptation (TTA) intends to adapt the pretrained model to test distributions with only unlabeled test data streams. Most of the previous TTA methods have achieved great success on simple test data streams such as independently…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

Unsupervised pre-training strategies have proven to be highly effective in natural language processing and computer vision. Likewise, unsupervised reinforcement learning (RL) holds the promise of discovering a variety of potentially useful…

Inspired by the success of transformer-based pre-training methods on natural language tasks and further computer vision tasks, researchers have begun to apply transformer to video processing. This survey aims to give a comprehensive…

Learning tabula rasa, that is without any prior knowledge, is the prevalent workflow in reinforcement learning (RL) research. However, RL systems, when applied to large-scale settings, rarely operate tabula rasa. Such large-scale systems…

The full potential of large pretrained models remains largely untapped in control domains like robotics. This is mainly because of the scarcity of data and the computational challenges associated with training or fine-tuning these large…

Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the…

Developing dataset-specific models involves iterative fine-tuning and optimization, incurring significant costs over time. This study investigates the transferability of state-of-the-art (SOTA) models trained on established datasets to an…

Intelligent agents rely heavily on prior experience when learning a new task, yet most modern reinforcement learning (RL) approaches learn every task from scratch. One approach for leveraging prior knowledge is to transfer skills learned on…

Self-supervised tasks have been utilized to build useful representations that can be used in downstream tasks when the annotation is unavailable. In this paper, we introduce a self-supervised video representation learning method based on…

Parameter-Efficient Fine-Tuning (PEFT) methods, especially LoRA, are widely used for adapting pre-trained models to downstream tasks due to their computational and storage efficiency. However, in the context of LoRA and its variants, the…

Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift. Reinforcement learning (RL) can mitigate these issues…