相关论文: MaIL: Improving Imitation Learning with Mamba

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

In-context Learning (ICL) has achieved notable success in the applications of large language models (LLMs). By adding only a few input-output pairs that demonstrate a new task, the LLM can efficiently learn the task during inference without…

In recent years, robust matching methods using deep learning-based approaches have been actively studied and improved in computer vision tasks. However, there remains a persistent demand for both robust and fast matching techniques. To…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…

In-Context Learning (ICL) in transformers acts as an online associative memory and is believed to underpin their high performance on complex sequence processing tasks. However, in gated linear attention models, this memory has a fixed…

Scaling inference-time compute has emerged as an important driver of LLM performance, making inference efficiency a central focus of model design alongside model quality. While the current Transformer-based models deliver strong model…

In recent years, multimodal learning has become essential in robotic vision and information fusion, especially for understanding human behavior in complex environments. However, current methods struggle to fully leverage the textual…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

Transformer, a deep neural network architecture, has long dominated the field of natural language processing and beyond. Nevertheless, the recent introduction of Mamba challenges its supremacy, sparks considerable interest among…

Reliable prediction of train delays is essential for enhancing the robustness and efficiency of railway transportation systems. In this work, we reframe delay forecasting as a stochastic simulation task, modeling state-transition dynamics…

Multilingual automatic speech recognition (ASR) remains a challenging task, especially when balancing performance across high- and low-resource languages. Recent advances in sequence modeling suggest that architectures beyond Transformers…

Transformer and its derivatives have achieved success in diverse tasks across computer vision, natural language processing, and speech processing. To reduce the complexity of computations within the multi-head self-attention mechanism in…

Imitation Learning (IL) algorithms are typically evaluated in the same environment that was used to create demonstrations. This rewards precise reproduction of demonstrations in one particular environment, but provides little information…

Aligning diffusion models with human preferences remains challenging, particularly when reward models are unavailable or impractical to obtain, and collecting large-scale preference datasets is prohibitively expensive. \textit{This raises a…

The Continual Learning (CL) problem involves performing well on a sequence of tasks under limited compute. Current algorithms in the domain are either slow, offline or sensitive to hyper-parameters. La-MAML, an optimization-based…

Recent advances in efficient sequence modeling have introduced selective state-space layers, a key component of the Mamba architecture, which have demonstrated remarkable success in a wide range of NLP and vision tasks. While Mamba's…

Transformers and Mamba, initially invented for natural language processing, have inspired backbone architectures for visual recognition. Recent studies integrated Local Attention Transformers with Mamba to capture both local details and…

Machine learning (ML)-based planners have recently gained significant attention. They offer advantages over traditional optimization-based planning algorithms. These advantages include fewer manually selected parameters and faster…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…

Contrastive Language-Image Pre-training (CLIP) relies on Vision Transformers whose attention mechanism is susceptible to spurious correlations, and scales quadratically with resolution. To address these limitations, We present CLIMP, the…