相关论文: Behavior Generation with Latent Actions

We introduce ResGen, an efficient Residual Vector Quantization (RVQ)-based generative model for high-fidelity generation with fast sampling. RVQ improves data fidelity by increasing the number of quantization steps, referred to as depth,…

We explore Bird's-Eye View (BEV) generation, converting a BEV map into its corresponding multi-view street images. Valued for its unified spatial representation aiding multi-sensor fusion, BEV is pivotal for various autonomous driving…

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…

Sequence transduction models have been widely explored in many natural language processing tasks. However, the target sequence usually consists of discrete tokens which represent word indices in a given vocabulary. We barely see the case…

In this work, we propose an LLM-based BT generation framework to leverage the strengths of both for sequential manipulation planning. To enable human-robot collaborative task planning and enhance intuitive robot programming by nonexperts,…

Question generation (QG) is a natural language generation task where a model is trained to ask questions corresponding to some input text. Most recent approaches frame QG as a sequence-to-sequence problem and rely on additional features and…

Recent byte-level language models (LMs) match the performance of token-level models without relying on subword vocabularies, yet their utility is limited by slow, byte-by-byte autoregressive generation. We address this bottleneck in the…

While the Self-Attention mechanism in the Transformer model has proven to be effective in many domains, we observe that it is less effective in more diverse settings (e.g. multimodality) due to the varying granularity of each token and the…

Despite significant progress of generative models in the natural sciences, their controllability remains challenging. One fundamentally missing aspect of molecular or protein generative models is an inductive bias that can reflect…

Deep Learning models encode rich semantic information in their hidden representations. However, it remains challenging to understand which parts of this information models actually rely on when making predictions. A promising line of…

We present BERTGEN, a novel generative, decoder-only model which extends BERT by fusing multimodal and multilingual pretrained models VL-BERT and M-BERT, respectively. BERTGEN is auto-regressively trained for language generation tasks,…

We propose a novel framework COLLAGE for generating collaborative agent-object-agent interactions by leveraging large language models (LLMs) and hierarchical motion-specific vector-quantized variational autoencoders (VQ-VAEs). Our model…

Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene understanding, and visual question…

We present DiffusionBERT, a new generative masked language model based on discrete diffusion models. Diffusion models and many pre-trained language models have a shared training objective, i.e., denoising, making it possible to combine the…

We present a method to generate video-action pairs that follow text instructions, starting from an initial image observation and the robot's joint states. Our approach automatically provides action labels for video diffusion models,…

Anticipating future actions is inherently uncertain. Given an observed video segment containing ongoing actions, multiple subsequent actions can plausibly follow. This uncertainty becomes even larger when predicting far into the future.…

In this paper, we introduce the Behavior Structformer, a method for modeling user behavior using structured tokenization within a Transformer-based architecture. By converting tracking events into dense tokens, this approach enhances model…

Diffusion transformers have demonstrated remarkable performance in visual generation tasks, such as generating realistic images or videos based on textual instructions. However, larger model sizes and multi-frame processing for video…

In this paper, we implement an information-theoretic approach to travel behaviour analysis by introducing a generative modelling framework to identify informative latent characteristics in travel decision making. It involves developing a…

We propose a novel method for applying Transformer models to extractive question answering (QA) tasks. Recently, pretrained generative sequence-to-sequence (seq2seq) models have achieved great success in question answering. Contributing to…