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

Modern large language models (LLMs) excel at tasks that require storing and retrieving knowledge, such as factual recall and question answering. Transformers are central to this capability because they can encode information during training…

Transformers have achieved great success in a wide variety of natural language processing (NLP) tasks due to the attention mechanism, which assigns an importance score for every word relative to other words in a sequence. However, these…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Multivariate time series forecasting focuses on predicting future values based on historical context. State-of-the-art sequence-to-sequence models rely on neural attention between timesteps, which allows for temporal learning but fails to…

A recent variation of Transformer, Performer, scales Transformer to longer sequences with a linear attention mechanism. However, it is not compatible with relative position encoding, which has advantages over absolute position encoding. In…

Time series analysis provides essential insights for real-world system dynamics and informs downstream decision-making, yet most existing methods often overlook the rich contextual signals present in auxiliary modalities. To bridge this…

Most approaches for semantic segmentation use only information from color cameras to parse the scenes, yet recent advancements show that using depth data allows to further improve performances. In this work, we focus on transformer-based…

Large multimodal models (LMMs) combine unimodal encoders and large language models (LLMs) to perform multimodal tasks. Despite recent advancements towards the interpretability of these models, understanding internal representations of LMMs…

The automatic classification of 3D medical data is memory-intensive. Also, variations in the number of slices between samples is common. Na\"ive solutions such as subsampling can solve these problems, but at the cost of potentially…

Transformer has become ubiquitous in the deep learning field. One of the key ingredients that destined its success is the self-attention mechanism, which allows fully-connected contextual encoding over input tokens. However, despite its…

Evaluating lesion progression and treatment response via longitudinal lesion tracking plays a critical role in clinical practice. Automated approaches for this task are motivated by prohibitive labor costs and time consumption when lesion…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…

The visual relationship recognition (VRR) task aims at understanding the pairwise visual relationships between interacting objects in an image. These relationships typically have a long-tail distribution due to their compositional nature.…

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…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

While convolutional neural networks have shown a tremendous impact on various computer vision tasks, they generally demonstrate limitations in explicitly modeling long-range dependencies due to the intrinsic locality of the convolution…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

Autonomous spacecraft control for mission phases such as launch, ascent, stage separation, and orbit insertion remains a critical challenge due to the need for adaptive policies that generalize across dynamically distinct regimes. While…

The introduction of Transformers architecture has brought about significant breakthroughs in Deep Learning (DL), particularly within Natural Language Processing (NLP). Since their inception, Transformers have outperformed many traditional…