相关论文: Task-conditioned adaptation of visual features in …

We study how to transfer representations pretrained on source tasks to target tasks in visual percept based RL. We analyze two popular approaches: freezing or finetuning the pretrained representations. Empirical studies on a set of popular…

Visual saliency patterns are the result of a variety of factors aside from the image being parsed, however existing approaches have ignored these. To address this limitation, we propose a novel saliency estimation model which leverages the…

Recent efforts on training visual navigation agents conditioned on language using deep reinforcement learning have been successful in learning policies for different multimodal tasks, such as semantic goal navigation and embodied question…

Current multi-modal models exhibit a notable misalignment with the human visual system when identifying objects that are visually assimilated into the background. Our observations reveal that these multi-modal models cannot distinguish…

We present an information-theoretic framework to learn fixed-dimensional embeddings for tasks in reinforcement learning. We leverage the idea that two tasks are similar if observing an agent's performance on one task reduces our uncertainty…

Foundation models have emerged as a powerful tool for many AI problems. Despite the tremendous success of foundation models, effective adaptation to new tasks, particularly those with limited labels, remains an open question and lacks…

We study how to leverage off-the-shelf visual and linguistic data to cope with out-of-vocabulary answers in visual question answering task. Existing large-scale visual datasets with annotations such as image class labels, bounding boxes and…

Continual learning aims to train a model incrementally on a sequence of tasks without forgetting previous knowledge. Although continual learning has been widely studied in computer vision, its application to Vision+Language tasks is not…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

Top-down attention allows neural networks, both artificial and biological, to focus on the information most relevant for a given task. This is known to enhance performance in visual perception. But it remains unclear how attention brings…

Vision-Language Models (VLMs) have achieved remarkable success in visual question answering tasks, but their reliance on large numbers of visual tokens introduces significant computational overhead. While existing efficient VLM approaches…

An important feature of pervasive, intelligent assistance systems is the ability to dynamically adapt to the current needs of their users. Hence, it is critical for such systems to be able to recognize those goals and needs based on…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

Results in interpretability suggest that large vision and language models learn implicit linear encodings when models are biased by in-context prompting. However, the existence of similar linear representations in more general adaptation…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

Efficiently transferring Learned Image Compression (LIC) model from human perception to machine perception is an emerging challenge in vision-centric representation learning. Existing approaches typically adapt LIC to downstream tasks in a…

We consider a multitask learning problem, in which several predictors are learned jointly. Prior research has shown that learning the relations between tasks, and between the input features, together with the predictor, can lead to better…

We study the problem of learning goal-conditioned policies in Minecraft, a popular, widely accessible yet challenging open-ended environment for developing human-level multi-task agents. We first identify two main challenges of learning…