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

Prompt learning is a new learning paradigm which reformulates downstream tasks as similar pretraining tasks on pretrained models by leveraging textual prompts. Recent works have demonstrated that prompt learning is particularly useful for…

Prompt tuning (PT) is a promising parameter-efficient method to utilize extremely large pre-trained language models (PLMs), which can achieve comparable performance to full-parameter fine-tuning by only tuning a few soft prompts. However,…

Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…

The curse of dimensionality is a widely known issue in reinforcement learning (RL). In the tabular setting where the state space $\mathcal{S}$ and the action space $\mathcal{A}$ are both finite, to obtain a nearly optimal policy with…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Recent vision-language models are driven by large-scale pretrained models. However, adapting pretrained models on limited data presents challenges such as overfitting, catastrophic forgetting, and the cross-modal gap between vision and…

Adapting pre-trained models to open classes is a challenging problem in machine learning. Vision-language models fully explore the knowledge of text modality, demonstrating strong zero-shot recognition performance, which is naturally suited…

Prompting language models (LMs) with training examples and task descriptions has been seen as critical to recent successes in few-shot learning. In this work, we show that finetuning LMs in the few-shot setting can considerably reduce the…

Pretrained language models (PLMs) have shown remarkable few-shot learning capabilities when provided with properly formatted examples. However, selecting the "best" examples remains an open challenge. We propose a complexity-based prompt…

Learning from large-scale pre-trained models with strong generalization ability has shown remarkable success in a wide range of downstream tasks recently, but it is still underexplored in the challenging few-shot class-incremental learning…

Offline zero-shot reinforcement learning (RL) aims to learn agents that optimize unseen reward functions without additional environment interaction. The standard approach to this problem trains task-conditioned policies by sampling task…

Requirements classification assigns natural language requirements to predefined classes, such as functional and non functional. Accurate classification reduces risk and improves software quality. Most existing models rely on supervised…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

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 pre-trained foundation models (PFMs) have become essential for facilitating large-scale multimodal learning. Researchers have effectively employed the ``pre-train, prompt, and predict'' paradigm through prompt learning to induce…

Most of the recent work in leveraging Large Language Models (LLMs) such as GPT-3 for Machine Translation (MT) has focused on selecting the few-shot samples for prompting. In this work, we try to better understand the role of demonstration…

Learning from demonstration has proven effective in robotics for acquiring natural behaviors, such as stylistic motions and lifelike agility, particularly when explicitly defining style-oriented reward functions is challenging. Synthesizing…

Agents trained via deep reinforcement learning (RL) routinely fail to generalize to unseen environments, even when these share the same underlying dynamics as the training levels. Understanding the generalization properties of RL is one of…

Prompting is a common approach for leveraging LMs in zero-shot settings. However, the underlying mechanisms that enable LMs to perform diverse tasks without task-specific supervision remain poorly understood. Studying the relationship…

Reinforcement learning (RL) often necessitates a meticulous Markov Decision Process (MDP) design tailored to each task. This work aims to address this challenge by proposing a systematic approach to behavior synthesis and control for…