相关论文: Prompt When the Animal is: Temporal Animal Behavio…

Consider the scenario where a human cleans a table and a robot observing the scene is instructed with the task "Remove the cloth using which I wiped the table". Instruction following with temporal reasoning requires the robot to identify…

Imitation learning for robotic grasping is often plagued by the multimodal problem: when a scene contains multiple valid targets, demonstrations of grasping different objects create conflicting training signals. Standard imitation learning…

Machine learning traditionally assumes that the training and testing data are distributed independently and identically. However, in many real-world settings, the data distribution can shift over time, leading to poor generalization of…

Automated animal behavior analysis relies on long-term, interpretable individual trajectories; however, multi-animal tracking in space science experimental videos remains highly challenging due to weak appearance cues, low-quality imaging,…

Temporal grounding aims to localize a video moment which is semantically aligned with a given natural language query. Existing methods typically apply a detection or regression pipeline on the fused representation with the research focus on…

Recent attempts to support high-level scene interpretation and planning in Autonomous Vehicles (AVs) using ensembles of Large Language Models (LLMs) and Large Multimodal Models (LMMs) continue to treat time as a secondary property. This…

Reinforcement learning is a powerful approach to learn behaviour through interactions with an environment. However, behaviours are usually learned in a purely reactive fashion, where an appropriate action is selected based on an…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

Reinforcement learning method is extremely competitive in gait generation techniques for quadrupedal robot, which is mainly due to the fact that stochastic exploration in reinforcement training is beneficial to achieve an autonomous gait.…

Temporal grounding aims to locate a target video moment that semantically corresponds to the given sentence query in an untrimmed video. However, recent works find that existing methods suffer a severe temporal bias problem. These methods…

Time series domain adaptation stands as a pivotal and intricate challenge with diverse applications, including but not limited to human activity recognition, sleep stage classification, and machine fault diagnosis. Despite the numerous…

Reward specification is one of the most tricky problems in Reinforcement Learning, which usually requires tedious hand engineering in practice. One promising approach to tackle this challenge is to adopt existing expert video demonstrations…

1. Spatial memory plays a role in the way animals perceive their environments, resulting in memory-informed movement patterns that are observable to ecologists. Developing mathematical techniques to understand how animals use memory in…

Predicting port congestion is crucial for maintaining reliable global supply chains. Accurate forecasts enableimprovedshipment planning, reducedelaysand costs, and optimizeinventoryanddistributionstrategies, thereby ensuring timely…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Inference-time scaling methods rely on Process Reward Models (PRMs), which are often poorly calibrated and overestimate success probabilities. We propose, to our knowledge, the first use of conditional optimal transport for calibrating…

Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…

Temporal grounding aims to retrieve moments of the described event within an untrimmed video by a language query. Typically, existing methods assume annotations are precise and unique, yet one query may describe multiple moments in many…