相关论文: LACMA: Language-Aligning Contrastive Learning with…

In learning an embodied agent executing daily tasks via language directives, the literature largely assumes that the agent learns all training data at the beginning. We argue that such a learning scenario is less realistic since a robotic…

Meta-learning enables learning systems to adapt quickly to new tasks, similar to humans. Different meta-learning approaches all work under/with the mini-batch episodic training framework. Such framework naturally gives the information about…

Vision-language-action models have gained significant attention for their ability to model multimodal sequences in embodied instruction following tasks. However, most existing models rely on causal attention, which we find suboptimal for…

End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…

Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Accomplishing household tasks requires to plan step-by-step actions considering the consequences of previous actions. However, the state-of-the-art embodied agents often make mistakes in navigating the environment and interacting with…

Vision-Language-Action (VLA) models show promise in embodied reasoning, yet remain far from true generalists-they often require task-specific fine-tuning, incur high compute costs, and generalize poorly to unseen tasks. We propose MetaVLA,…

Embodied agents operating in household environments must interpret ambiguous and under-specified human instructions. A capable household robot should recognize ambiguity and ask relevant clarification questions to infer the user intent…

We propose Domain-Conditioned Meta-Contrastive Learning, a framework for improving the cross-domain generalization of vision-language models. While contrastive models such as CLIP achieve strong performance through large-scale training,…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

Embodied control requires agents to leverage multi-modal pre-training to quickly learn how to act in new environments, where video demonstrations contain visual and motion details needed for low-level perception and control, and language…

Language-based environment manipulation requires agents to manipulate the environment following natural language instructions, which is challenging due to the huge space of the environments. To address this challenge, various approaches…

Multimodal Large Language Models advance multimodal representation learning by acquiring transferable semantic embeddings, thereby substantially enhancing performance across a range of vision-language tasks, including cross-modal retrieval,…

Adapting large language models (LLMs) to unseen tasks with in-context training samples without fine-tuning remains an important research problem. To learn a robust LLM that adapts well to unseen tasks, multiple meta-training approaches have…

Interactive and embodied tasks pose at least two fundamental challenges to existing Vision & Language (VL) models, including 1) grounding language in trajectories of actions and observations, and 2) referential disambiguation. To tackle…

Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a principled way to learn from their own mistakes. We ask whether natural language can serve as feedback, an error-reasoning signal that…

Meta-learning algorithms adapt quickly to new tasks that are drawn from the same task distribution as the training tasks. The mechanism leading to fast adaptation is the conditioning of a downstream predictive model on the inferred…

With strong capabilities of reasoning and a broad understanding of the world, Large Language Models (LLMs) have demonstrated immense potential in building versatile embodied decision-making agents capable of executing a wide array of tasks.…

Developing robots capable of executing various manipulation tasks, guided by natural language instructions and visual observations of intricate real-world environments, remains a significant challenge in robotics. Such robot agents need to…