相关论文: A Minimalist Prompt for Zero-Shot Policy Learning

Metric learning is a widely used method for few shot learning in which the quality of prototypes plays a key role in the algorithm. In this paper we propose the trainable prototypes for distance measure instead of the artificial ones within…

Offline reinforcement learning (RL) methods harness previous experiences to derive an optimal policy, forming the foundation for pre-trained large-scale models (PLMs). When encountering tasks not seen before, PLMs often utilize several…

To generalize across tasks, an agent should acquire knowledge from past tasks that facilitate adaptation and exploration in future tasks. We focus on the problem of in-context adaptation and exploration, where an agent only relies on…

A key component of model-based reinforcement learning (RL) is a dynamics model that predicts the outcomes of actions. Errors in this predictive model can degrade the performance of model-based controllers, and complex Markov decision…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

Indoor robots rely on depth to perform tasks like navigation or obstacle detection, and single-image depth estimation is widely used to assist perception. Most indoor single-image depth prediction focuses less on model generalizability to…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

The promising zero-shot generalization of vision-language models such as CLIP has led to their adoption using prompt learning for numerous downstream tasks. Previous works have shown test-time prompt tuning using entropy minimization to…

Large-scale pre-trained language models have contributed significantly to natural language processing by demonstrating remarkable abilities as few-shot learners. However, their effectiveness depends mainly on scaling the model parameters…

Generalizing across robot embodiments and tasks is crucial for adaptive robotic systems. Modular policy learning approaches adapt to new embodiments but are limited to specific tasks, while few-shot imitation learning (IL) approaches often…

A modern paradigm for generalization in machine learning and AI consists of pre-training a task-agnostic foundation model, generally obtained using self-supervised and multimodal contrastive learning. The resulting representations can be…

Prompt-tuning has emerged as a promising method for adapting pre-trained models to downstream tasks or aligning with human preferences. Prompt learning is widely used in NLP but has limited applicability to RL due to the complex physical…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Learning from Demonstration (LfD) enables robots to acquire versatile skills by learning motion policies from human demonstrations. It endows users with an intuitive interface to transfer new skills to robots without the need for…

In recent years, transformer-based models have revolutionized deep learning, particularly in sequence modeling. To better understand this phenomenon, there is a growing interest in using Markov input processes to study transformers.…

While Large Language Models (LLMs) exhibit remarkable capabilities in zero-shot and few-shot scenarios, they often require computationally prohibitive sizes. Conversely, smaller Masked Language Models (MLMs) like BERT and RoBERTa achieve…

In this paper, hypernetworks are trained to generate behaviors across a range of unseen task conditions, via a novel TD-based training objective and data from a set of near-optimal RL solutions for training tasks. This work relates to meta…

The integration of large language models (LLMs) with control systems has demonstrated significant potential in various settings, such as task completion with a robotic manipulator. A main reason for this success is the ability of LLMs to…

Prompt tuning, in which a base pretrained model is adapted to each task via conditioning on learned prompt vectors, has emerged as a promising approach for efficiently adapting large language models to multiple downstream tasks. However,…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…