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

Decision-making for urban autonomous driving is challenging due to the stochastic nature of interactive traffic participants and the complexity of road structures. Although reinforcement learning (RL)-based decision-making scheme is…

Large artificial intelligence models (LAIMs) are increasingly regarded as a core intelligence engine for embodied AI applications. However, the massive parameter scale and computational demands of LAIMs pose significant challenges for…

The recent rapid development of Large Vision-Language Models (LVLMs) has indicated their potential for embodied tasks.However, the critical skill of spatial understanding in embodied environments has not been thoroughly evaluated, leaving…

Despite the increasing prevalence of large language models (LLMs), we still have a limited understanding of how their representational spaces are structured. This limits our ability to interpret how and what they learn or relate them to…

Test-time scaling paradigms have significantly advanced the capabilities of large language models (LLMs) on complex tasks. Despite their empirical success, theoretical understanding of the sample efficiency of various test-time strategies…

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy…

In self-supervised learning, a model is trained to solve a pretext task, using a data set whose annotations are created by a machine. The objective is to transfer the trained weights to perform a downstream task in the target domain. We…

Vision-language-action (VLA) models remain constrained by the scarcity of action-labeled robot data, whereas action-free videos provide abundant evidence of how the physical world changes. Latent action models offer a promising way to…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…

Offline meta-reinforcement learning seeks to learn policies that generalize across related tasks from fixed datasets. Context-based methods infer a task representation from transition histories, but learning effective task representations…

Learning a model of a stochastic setting often involves learning both general structure rules and specific properties of the instance. This paper investigates the interplay between learning the general and the specific in various learning…

As machine learning models grow increasingly competent, their predictions can supplement scarce or expensive data in various important domains. In support of this paradigm, algorithms have emerged to combine a small amount of high-fidelity…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

Large language models (LLMs) can acquire new capabilities through fine-tuning, but continual adaptation often leads to catastrophic forgetting. We propose CRAFT, a continual learning framework that avoids updating model weights by instead…

The problem of high-dimensional and large-scale representation of visual data is addressed from an unsupervised learning perspective. The emphasis is put on discrete representations, where the description length can be measured in bits and…

Quantization-aware training (QAT) simulates a quantization process during training to lower bit-precision of weights/activations. It learns quantized weights indirectly by updating latent weights,i.e., full-precision inputs to a quantizer,…

The emerging in-context learning (ICL) ability of large language models (LLMs) has prompted their use for predictive tasks in various domains with different data types, including tabular data, facilitated by serialization methods. However,…

Successful Human-Robot collaboration requires a predictive model of human behavior. The robot needs to be able to recognize current goals and actions and to predict future activities in a given context. However, the spatio-temporal sequence…

Unsupervised representation learning has significantly advanced various machine learning tasks. In the computer vision domain, state-of-the-art approaches utilize transformations like random crop and color jitter to achieve invariant…