相关论文: Rethinking Mutual Information for Language Conditi…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

Identifying statistical regularities in solutions to some tasks in multi-task reinforcement learning can accelerate the learning of new tasks. Skill learning offers one way of identifying these regularities by decomposing pre-collected…

Imitation learning holds the promise of equipping robots with versatile skills by learning from expert demonstrations. However, policies trained on finite datasets often struggle to generalize beyond the training distribution. In this work,…

One of the common ways children learn is by mimicking adults. Imitation learning focuses on learning policies with suitable performance from demonstrations generated by an expert, with an unspecified performance measure, and unobserved…

Continual Learning aims to learn a single model on a sequence of tasks without having access to data from previous tasks. The biggest challenge in the domain still remains catastrophic forgetting: a loss in performance on seen classes of…

Large language models (LLMs) demonstrate exceptional instruct-following ability to complete various downstream tasks. Although this impressive ability makes LLMs flexible task solvers, their performance in solving tasks also heavily relies…

Human language acquisition is an efficient, supervised, and continual process. In this work, we took inspiration from how human babies acquire their first language, and developed a computational process for word acquisition through…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

In this work, we study computational approaches to detect online dialogic instructions, which are widely used to help students understand learning materials, and build effective study habits. This task is rather challenging due to the…

Humans acquire language through implicit learning, absorbing complex patterns without explicit awareness. While LLMs demonstrate impressive linguistic capabilities, it remains unclear whether they exhibit human-like pattern recognition…

Instruction tuning is now a widely adopted approach to aligning large multimodal models (LMMs) to follow human intent. It unifies the data format of vision-language tasks, enabling multi-task joint training. However, vision-language tasks…

Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

Natural-language-facilitated human-robot cooperation (NLC), in which natural language (NL) is used to share knowledge between a human and a robot for conducting intuitive human-robot cooperation (HRC), is continuously developing in the…

Recent efforts to enable visual navigation using large language models have mainly focused on developing complex prompt systems. These systems incorporate instructions, observations, and history into massive text prompts, which are then…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Despite the broad application of deep reinforcement learning (RL), transferring and adapting the policy to unseen but similar environments is still a significant challenge. Recently, the language-conditioned policy is proposed to facilitate…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

Multi-modal machine translation aims at translating the source sentence into a different language in the presence of the paired image. Previous work suggests that additional visual information only provides dispensable help to translation,…

Visual affordance learning is crucial for robots to understand and interact effectively with the physical world. Recent advances in this field attempt to leverage pre-trained knowledge of vision-language foundation models to learn…

High-level human instructions often correspond to behaviors with multiple implicit steps. In order for robots to be useful in the real world, they must be able to to reason over both motions and intermediate goals implied by human…