相关论文: QueST: Self-Supervised Skill Abstractions for Lear…

Learning from videos offers a promising path toward generalist robots by providing rich visual and temporal priors beyond what real robot datasets contain. While existing video generative models produce impressive visual predictions, they…

Large language models (LLMs) are omnipresent, however their practical deployment is challenging due to their ever increasing computational and memory demands. Quantization is one of the most effective ways to make them more compute and…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

We study the energy minimization problem in low-level vision tasks from a novel perspective. We replace the heuristic regularization term with a learnable subspace constraint, and preserve the data term to exploit domain knowledge derived…

Recent Self-Supervised Learning (SSL) methods are able to learn feature representations that are invariant to different data augmentations, which can then be transferred to downstream tasks of interest. However, different downstream tasks…

Pre-trained vision-language models provide a robust foundation for efficient transfer learning across various downstream tasks. In the field of video action recognition, mainstream approaches often introduce additional modules to capture…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Despite the superior performance, Large Language Models~(LLMs) require significant computational resources for deployment and use. To overcome this issue, quantization methods have been widely applied to reduce the memory footprint of LLMs…

Large language models (LLMs) are increasingly used as proposal generators for evolutionary robot design, yet most loops remain memoryless: simulator results shape the next population but are not preserved as reusable design knowledge. We…

Large Language Models have achieved strong performance on reasoning tasks, solving competition-level coding and math problems. However, their scalability is limited by human-labeled datasets and the lack of large-scale, challenging coding…

Learning parameters of latent graphical models (GM) is inherently much harder than that of no-latent ones since the latent variables make the corresponding log-likelihood non-concave. Nevertheless, expectation-maximization schemes are…

Language Models (LMs) exhibit two distinct mechanisms for knowledge acquisition: in-weights learning (i.e., encoding information within the model weights) and in-context learning (ICL). Although these two modes offer complementary…

Large language model (LLM) agents increasingly rely on accumulated memory to solve long-horizon decision-making tasks. However, most existing approaches store memory in fixed representations and reuse it at a single or implicit level of…

While Large Multimodal Models (LMMs) have made significant progress, they remain largely text-centric, relying on language as their core reasoning modality. As a result, they are limited in their ability to handle reasoning tasks that are…

We present a generative model for multitask conditional language generation. Our guiding hypothesis is that a shared set of latent skills underlies many disparate language generation tasks, and that explicitly modelling these skills in a…

Evaluating large language models (LLMs) has become increasingly challenging as model capabilities advance rapidly. While recent models often achieve higher scores on standard benchmarks, these improvements do not consistently reflect…

Vision-Language-Action (VLA) models commonly adapt pretrained Vision-Language Models (VLMs) to robot control by mapping visual observations and language instructions to continuous actions. Existing approaches typically take an…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

Recently, a variety of new equivariant neural network model architectures have been proposed that generalize better over rotational and reflectional symmetries than standard models. These models are relevant to robotics because many…

Assistive robotics and particularly robot coaches may be very helpful for rehabilitation healthcare. In this context, we propose a method based on Gaussian Process Latent Variable Model (GP-LVM) to transfer knowledge between a…