相关论文: Few-Shot In-Context Imitation Learning via Implici…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Transformer-based large language models exhibit in-context learning, enabling adaptation to downstream tasks via few-shot prompting with demonstrations. In practice, such models are often fine-tuned to improve zero-shot performance on…

Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the…

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…

Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and…

In this work, we explore the mechanism of in-context learning (ICL) on out-of-distribution (OOD) tasks that were not encountered during training. To achieve this, we conduct synthetic experiments where the objective is to learn OOD…

In-context learning is the ability of a pretrained model to adapt to novel and diverse downstream tasks by conditioning on prompt examples, without optimizing any parameters. While large language models have demonstrated this ability, how…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

The goal of this paper is to bypass the need for labelled examples in few-shot video understanding at run time. While proven effective, in many practical video settings even labelling a few examples appears unrealistic. This is especially…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

Majority of the modern meta-learning methods for few-shot classification tasks operate in two phases: a meta-training phase where the meta-learner learns a generic representation by solving multiple few-shot tasks sampled from a large…

Training autonomous agents that can learn new tasks from only a handful of demonstrations is a long-standing problem in machine learning. Recently, transformers have been shown to learn new language or vision tasks without any weight…

The ability to reason over learned knowledge is an innate ability for humans and humans can easily master new reasoning rules with only a few demonstrations. While most existing studies on knowledge graph (KG) reasoning assume enough…

Modern machine learning systems have demonstrated substantial abilities with methods that either embrace or ignore human-provided knowledge, but combining benefits of both styles remains a challenge. One particular challenge involves…

Meta-learning has emerged as a prominent technology for few-shot text classification and has achieved promising performance. However, existing methods often encounter difficulties in drawing accurate class prototypes from support set…

Attention-based architectures trained on internet-scale language data have demonstrated state of the art reasoning ability for various language-based tasks, such as logic problems and textual reasoning. Additionally, these Large Language…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

Unsupervised meta-learning aims to learn feature representations from unsupervised datasets that can transfer to downstream tasks with limited labeled data. In this paper, we propose a novel approach to unsupervised meta-learning that…