相关论文: Contrastive Imitation Learning for Language-guided…

Medical image segmentation is evolving from task-specific models toward generalizable frameworks. Recent research leverages Multi-modal Large Language Models (MLLMs) as autonomous agents, employing reinforcement learning with verifiable…

Since the meaning representations are detailed and accurate annotations which express fine-grained sequence-level semtantics, it is usually hard to train discriminative semantic parsers via Maximum Likelihood Estimation (MLE) in an…

Existing multilingual machine translation approaches mainly focus on English-centric directions, while the non-English directions still lag behind. In this work, we aim to build a many-to-many translation system with an emphasis on the…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation and manipulation, executing manipulation only after reaching a…

Large language models (LLMs) are trained on huge amounts of textual data, and concerns have been raised that the limits of such data may soon be reached. A potential solution is to train on synthetic data sampled from LLMs. In this work, we…

With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…

Existing Large Language Models (LLM) can invoke a variety of tools and APIs to complete complex tasks. The computer, as the most powerful and universal tool, could potentially be controlled directly by a trained LLM agent. Powered by the…

In robotic systems, the performance of reinforcement learning depends on the rationality of predefined reward functions. However, manually designed reward functions often lead to policy failures due to inaccuracies. Inverse Reinforcement…

Simultaneous Machine Translation (SiMT) requires high-quality translations under strict real-time constraints, which traditional encoder-decoder policies with only READ/WRITE actions cannot fully address. We extend the action space of SiMT…

Task planning for robotic manipulation with large language models (LLMs) is an emerging area. Prior approaches rely on specialized models, fine tuning, or prompt tuning, and often operate in an open loop manner without robust environmental…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Simultaneous Machine Translation (SiMT) requires high-quality translations under strict real-time constraints, which traditional policies with only READ/WRITE actions cannot fully address. We extend the action space of SiMT with four…

Classical machine learners are designed only to tackle one task without capability of adopting new emerging tasks or classes whereas such capacity is more practical and human-like in the real world. To address this shortcoming, continual…

We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation learning to handle more than one task within a single model.…

The majority of language model training builds on imitation learning. It covers pretraining, supervised fine-tuning, and affects the starting conditions for reinforcement learning from human feedback (RLHF). The simplicity and scalability…

The heterogeneity between high-level vision-language understanding and low-level action control remains a fundamental challenge in robotic manipulation. Although recent methods have advanced task-specific action alignment, they often…

At present, robots typically require extensive training to successfully accomplish a single task. However, to truly enhance their usefulness in real-world scenarios, robots should possess the capability to perform multiple tasks…

A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…

In this paper, we propose a novel framework for speech-image retrieval. We utilize speech-image contrastive (SIC) learning tasks to align speech and image representations at a coarse level and speech-image matching (SIM) learning tasks to…