相关论文: Keypoint Action Tokens Enable In-Context Imitation…

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…

The goal of this paper is to recognize actions in video without the need for examples. Different from traditional zero-shot approaches we do not demand the design and specification of attribute classifiers and class-to-attribute mappings to…

Artificial agents, particularly humanoid robots, interact with their environment, objects, and people using cameras, actuators, and physical presence. Their communication methods are often pre-programmed, limiting their actions and…

Transformers have achieved state-of-the-art performance in language modeling tasks. However, the reasons behind their tremendous success are still unclear. In this paper, towards a better understanding, we train a Transformer model on a…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

In this paper, we introduce a novel visual representation learning which relies on a handful of adaptively learned tokens, and which is applicable to both image and video understanding tasks. Instead of relying on hand-designed splitting…

In-context learning refers to the ability of a model to condition on a prompt sequence consisting of in-context examples (input-output pairs corresponding to some task) along with a new query input, and generate the corresponding output.…

Pre-trained large language models based on Transformers have demonstrated remarkable in-context learning (ICL) abilities. With just a few demonstration examples, the models can implement new tasks without any parameter updates. However, it…

In the field of autonomous driving, there have been many excellent perception models for object detection, semantic segmentation, and other tasks, but how can we effectively use the perception models for vehicle planning? Traditional…

Transformer with self-attention has led to the revolutionizing of natural language processing field, and recently inspires the emergence of Transformer-style architecture design with competitive results in numerous computer vision tasks.…

On account of growing demands for personalization, the need for a so-called few-shot TTS system that clones speakers with only a few data is emerging. To address this issue, we propose Attentron, a few-shot TTS model that clones voices of…

This work explores the potential of brief inter-agent knowledge transfer (KT) to enhance the robotic object goal navigation (ON) in unseen and unfamiliar environments. Drawing on the analogy of human travelers acquiring local knowledge, we…

Transformers have recently emerged as a powerful tool for learning visual representations. In this paper, we identify and characterize artifacts in feature maps of both supervised and self-supervised ViT networks. The artifacts correspond…

Zero-shot imitation learning algorithms hold the promise of reproducing unseen behavior from as little as a single demonstration at test time. Existing practical approaches view the expert demonstration as a sequence of goals, enabling…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

Chain-of-Thought (CoT) is an efficient prompting method that enables the reasoning ability of large language models by augmenting the query using multiple examples with multiple intermediate steps. Despite the empirical success, the…

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…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Transformers have a remarkable ability to learn and execute tasks based on examples provided within the input itself, without explicit prior training. It has been argued that this capability, known as in-context learning (ICL), is a…