相关论文: MaIL: Improving Imitation Learning with Mamba

Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…

In-Context Learning (ICL) is a phenomenon where task learning occurs through a prompt sequence without the necessity of parameter updates. ICL in Multi-Headed Attention (MHA) with absolute positional embedding has been the focus of more…

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…

The aim in imitation learning is to learn effective policies by utilizing near-optimal expert demonstrations. However, high-quality demonstrations from human experts can be expensive to obtain in large numbers. On the other hand, it is…

The full potential of large pretrained models remains largely untapped in control domains like robotics. This is mainly because of the scarcity of data and the computational challenges associated with training or fine-tuning these large…

Image generation models have encountered challenges related to scalability and quadratic complexity, primarily due to the reliance on Transformer-based backbones. In this study, we introduce MaskMamba, a novel hybrid model that combines…

Extracting robust discriminative features is a critical challenge in person re-identification (ReID). While Transformer-based methods have successfully addressed some limitations of convolutional neural networks (CNNs), such as their local…

Computational pathology (CPath) has significantly advanced the clinical practice of pathology. Despite the progress made, Multiple Instance Learning (MIL), a promising paradigm within CPath, continues to face challenges, particularly…

We study Imitation Learning (IL) from Observations alone (ILFO) in large-scale MDPs. While most IL algorithms rely on an expert to directly provide actions to the learner, in this setting the expert only supplies sequences of observations.…

Acquiring physically plausible motor skills across diverse and unconventional morphologies-including humanoid robots, quadrupeds, and animals-is essential for advancing character simulation and robotics. Traditional methods, such as…

Efficient long-context language modeling remains a significant challenge in Natural Language Processing (NLP). While Transformers dominate language tasks, they struggle with long sequences due to quadratic computational complexity in…

Building models of natural language processing (NLP) is challenging in low-resource scenarios where only limited data are available. Optimization-based meta-learning algorithms achieve promising results in low-resource scenarios by adapting…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…

Dynamic graph embedding has emerged as an important technique for modeling complex time-evolving networks across diverse domains. While transformer-based models have shown promise in capturing long-range dependencies in temporal graph data,…

Transformer architectures have become a dominant paradigm for domains like language modeling but suffer in many inference settings due to their quadratic-time self-attention. Recently proposed subquadratic architectures, such as Mamba, have…

Imitation Learning (IL) is a machine learning approach to learn a policy from a dataset of demonstrations. IL can be useful to kick-start learning before applying reinforcement learning (RL) but it can also be useful on its own, e.g. to…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

Referring image segmentation is a typical multi-modal task, which aims at generating a binary mask for referent described in given language expressions. Prior arts adopt a bimodal solution, taking images and languages as two modalities…