相关论文: Distilling and Retrieving Generalizable Knowledge …

Conversational Search (CS) involves retrieving relevant documents from a corpus while considering the conversational context, integrating retrieval with context modeling. Recent advancements in Large Language Models (LLMs) have…

As robots become increasingly integrated into everyday environments, intuitive communication paradigms such as natural language and end-user programming have become indispensable for specifying autonomous robot behavior. However, these…

We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a robust multi-task language-conditioned visuo-motor policy.…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

Large Language Models (LLMs) continue to set new standards in knowledge-intensive and complex reasoning tasks, yet their high computational demands limit widespread adoption. While distilling large models into smaller ones offers a…

Large language model (LLM)-based recommender models that bridge users and items through textual prompts for effective semantic reasoning have gained considerable attention. However, few methods consider the underlying rationales behind…

Knowledge distillation has emerged as a powerful technique for compressing large language models (LLMs) into efficient, deployable architectures while preserving their advanced capabilities. Recent advances in low-rank knowledge…

Retrieval-augmented generation (RAG) integrates large language models ( LLM s) with retrievers to access external knowledge, improving the factuality of LLM generation in knowledge-grounded tasks. To optimize the RAG performance, most…

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…

Large language models (LLMs) have shown incredible performance in completing various real-world tasks. The current paradigm of knowledge learning for LLMs is mainly based on learning from examples, in which LLMs learn the internal rule…

Learning from human demonstrations is an emerging trend for designing intelligent robotic systems. However, previous methods typically regard videos as instructions, simply dividing them into action sequences for robotic repetition, which…

Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- the robot can break complex tasks down into semantic subtasks.…

Self-supervised learning solves pretext prediction tasks that do not require annotations to learn feature representations. For vision tasks, pretext tasks such as predicting rotation, solving jigsaw are solely created from the input data.…

Deep Reinforcement Learning (DRL) has become a powerful methodology to solve complex decision-making problems. However, DRL has several limitations when used in real-world problems (e.g., robotics applications). For instance, long training…

Teleoperated robotic manipulators enable the collection of demonstration data, which can be used to train control policies through imitation learning. However, such methods can require significant amounts of training data to develop robust…

Systems for language-guided human-robot interaction must satisfy two key desiderata for broad adoption: adaptivity and learning efficiency. Unfortunately, existing instruction-following agents cannot adapt, lacking the ability to…

Recent research has explored distilling knowledge from large language models (LLMs) to optimize retriever models, especially within the retrieval-augmented generation (RAG) framework. However, most existing training methods rely on…

Over the past year, the emergence of transfer learning with large-scale language models (LM) has led to dramatic performance improvements across a broad range of natural language understanding tasks. However, the size and memory footprint…

Recent work has shown that augmenting environments with language descriptions improves policy learning. However, for environments with complex language abstractions, learning how to ground language to observations is difficult due to…

Deep Reinforcement Learning (DRL) has become a powerful strategy to solve complex decision making problems based on Deep Neural Networks (DNNs). However, it is highly data demanding, so unfeasible in physical systems for most applications.…