相关论文: Transformer-XL for Long Sequence Tasks in Robotic …

Attentional mechanisms are order-invariant. Positional encoding is a crucial component to allow attention-based deep model architectures such as Transformer to address sequences or images where the position of information matters. In this…

In this work, we present a scalable reinforcement learning method for training multi-task policies from large offline datasets that can leverage both human demonstrations and autonomously collected data. Our method uses a Transformer to…

Long-context modeling has drawn more and more attention in the area of Large Language Models (LLMs). Continual training with long-context data becomes the de-facto method to equip LLMs with the ability to process long inputs. However, it…

Two of the many trends in neural network research of the past few years have been (i) the learning of dynamical systems, especially with recurrent neural networks such as long short-term memory networks (LSTMs) and (ii) the introduction of…

Large Language Models (LLMs) have allowed recent LLM-based approaches to achieve excellent performance on long-video understanding benchmarks. We investigate how extensive world knowledge and strong reasoning skills of underlying LLMs…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

To equip robots with dexterous skills, an effective approach is to first transfer the desired skill via Learning from Demonstration (LfD), then let the robot improve it by self-exploration via Reinforcement Learning (RL). In this paper, we…

Time series data is a key element of big data analytics, commonly found in domains such as finance, healthcare, climate forecasting, and transportation. In large scale real world settings, such data is often high dimensional and…

Transformer models trained on long sequences often achieve higher accuracy than short sequences. Unfortunately, conventional transformers struggle with long sequence training due to the overwhelming computation and memory requirements.…

During recent years transformers architectures have been growing in popularity. Modulated Detection Transformer (MDETR) is an end-to-end multi-modal understanding model that performs tasks such as phase grounding, referring expression…

Aligning Large Language Models (LLMs) is crucial for enhancing their safety and utility. However, existing methods, primarily based on preference datasets, face challenges such as noisy labels, high annotation costs, and privacy concerns.…

Skeleton-based action recognition faces two longstanding challenges: the scarcity of labeled training samples and difficulty modeling short- and long-range temporal dependencies. To address these issues, we propose a unified framework,…

The Transformer architecture is crucial for numerous AI models, but it still faces challenges in long-range language modeling. Though several specific transformer architectures have been designed to tackle issues of long-range dependencies,…

Decoding brain states from functional magnetic resonance imaging (fMRI) data is vital for advancing neuroscience and clinical applications. While traditional machine learning and deep learning approaches have made strides in leveraging the…

Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be…

Traditional analysis of highly distorted micro-X-ray diffraction ({\mu}-XRD) patterns from hydrothermal fluid environments is a time-consuming process, often requiring substantial data preprocessing and labeled experimental data. This study…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Training Memory-based transformers can require a large amount of memory and can be quite inefficient. We propose a novel two-phase training mechanism and a novel regularization technique to improve the training efficiency of memory-based…

Multi Task Learning (MTL) efficiently leverages useful information contained in multiple related tasks to help improve the generalization performance of all tasks. This article conducts a large dimensional analysis of a simple but, as we…

Recently, Transformer-based models for long sequence time series forecasting have demonstrated promising results. The self-attention mechanism as the core component of these Transformer-based models exhibits great potential in capturing…