相关论文: MaIL: Improving Imitation Learning with Mamba

Prior work in multi-task learning has mainly focused on predictions on a single image. In this work, we present a new approach for multi-task learning from videos via efficient inter-frame local attention (MILA). Our approach contains a…

Decision Transformer, a promising approach that applies Transformer architectures to reinforcement learning, relies on causal self-attention to model sequences of states, actions, and rewards. While this method has shown competitive…

Video Language Models (VLMs) are crucial for generalizing across diverse tasks and using language cues to enhance learning. While transformer-based architectures have been the de facto in vision-language training, they face challenges like…

Multimodal Large Language Models (MLLMs) have attracted much attention for their multifunctionality. However, traditional Transformer architectures incur significant overhead due to their secondary computational complexity. To address this…

Model-based imitation learning (MBIL) is a popular reinforcement learning method that improves sample efficiency on high-dimension input sources, such as images and videos. Following the convention of MBIL research, existing algorithms are…

State Space Models (SSMs), especially recent Mamba architecture, have achieved remarkable success in sequence modeling tasks. However, extending SSMs to computer vision remains challenging due to the non-sequential structure of visual data…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Surgical action planning requires predicting future instrument-verb-target triplets for real-time assistance. While teleoperated robotic surgery provides natural expert demonstrations for imitation learning (IL), reinforcement learning (RL)…

Transformers and their variants have achieved great success in speech processing. However, their multi-head self-attention mechanism is computationally expensive. Therefore, one novel selective state space model, Mamba, has been proposed as…

Transformer-based architectures have become the backbone of both uni-modal and multi-modal foundation models, largely due to their scalability via attention mechanisms, resulting in a rich ecosystem of publicly available pre-trained models…

Transformers have revolutionized deep learning across various tasks, including audio representation learning, due to their powerful modeling capabilities. However, they often suffer from quadratic complexity in both GPU memory usage and…

Multimodal learning, which integrates data from diverse sensory modes, plays a pivotal role in artificial intelligence. However, existing multimodal learning methods often struggle with challenges where some modalities appear more dominant…

Mamba, a special case of the State Space Model, is gaining popularity as an alternative to template-based deep learning approaches in medical image analysis. While transformers are powerful architectures, they have drawbacks, including…

While transformer-based language models have driven the AI revolution thus far, their computational complexity has spurred growing interest in viable alternatives, such as structured state space sequence models (SSMs) and Selective SSMs.…

We study online adversarial imitation learning (AIL), where an agent learns from offline expert demonstrations and interacts with the environment online without access to rewards. Despite strong empirical results, the benefits of online…

Reinforcement learning (RL) agents often suffer from high sample complexity in sparse or delayed reward settings due to limited prior structure. Large language models (LLMs) can provide subgoal decompositions, plausible trajectories, and…

The typical Selective State-Space Model (SSM) used in Mamba addresses several limitations of Transformers, such as the quadratic computational complexity with respect to sequence length and the significant memory requirements during…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

Foundation models, now powering most of the exciting applications in deep learning, are almost universally based on the Transformer architecture and its core attention module. Many subquadratic-time architectures such as linear attention,…

Model agnostic meta-learning (MAML) is a popular state-of-the-art meta-learning algorithm that provides good weight initialization of a model given a variety of learning tasks. The model initialized by provided weight can be fine-tuned to…