相关论文: Incremental Learning of Affordances using Markov L…

Visual affordance learning is a key component for robots to understand how to interact with objects. Conventional approaches in this field rely on pre-defined objects and actions, falling short of capturing diverse interactions in realworld…

Most modern neural networks for classification fail to take into account the concept of the unknown. Trained neural networks are usually tested in an unrealistic scenario with only examples from a closed set of known classes. In an attempt…

Large language models (LLMs) exhibit an intriguing ability to learn a novel task from in-context examples presented in a demonstration, termed in-context learning (ICL). Understandably, a swath of research has been dedicated to uncovering…

In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which actions each object affords, and where those affordances can be…

In-context learning (ICL) adapts LLMs by providing demonstrations without fine-tuning the model parameters; however, it does not differentiate between demonstrations and quadratically increases the complexity of Transformer LLMs, exhausting…

A key challenge in robot teaching is grasp-type recognition with a single RGB image and a target object name. Here, we propose a simple yet effective pipeline to enhance learning-based recognition by leveraging a prior distribution of grasp…

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…

Large language models based on the Transformer architecture have demonstrated impressive capabilities to learn in context. However, existing theoretical studies on how this phenomenon arises are limited to the dynamics of a single layer of…

Knowledge graph embedding aims at modeling entities and relations with low-dimensional vectors. Most previous methods require that all entities should be seen during training, which is unpractical for real-world knowledge graphs with new…

Preference learning in Large Language Models (LLMs) has advanced significantly, yet existing methods remain limited by modest performance gains, high computational costs, hyperparameter sensitivity, and insufficient modeling of global…

Due to its empirical success in few-shot classification and reinforcement learning, meta-learning has recently received significant interest. Meta-learning methods leverage data from previous tasks to learn a new task in a sample-efficient…

3D Affordance detection is a challenging problem with broad applications on various robotic tasks. Existing methods typically formulate the detection paradigm as a label-based semantic segmentation task. This paradigm relies on predefined…

Affordances - i.e. possibilities for action that an environment or objects in it provide - are important for robots operating in human environments to perceive. Existing approaches train such capabilities on annotated static images or…

Automatic machine learning (\AML) is a family of techniques to automate the process of training predictive models, aiming to both improve performance and make machine learning more accessible. While many recent works have focused on aspects…

Designing models that are both expressive and preserve known invariances of tasks is an increasingly hard problem. Existing solutions tradeoff invariance for computational or memory resources. In this work, we show how to leverage…

Meta-learning, or learning-to-learn, seeks to design algorithms that can utilize previous experience to rapidly learn new skills or adapt to new environments. Representation learning -- a key tool for performing meta-learning -- learns a…

How to adapt a pre-trained model continuously for sequential tasks with different prediction class labels and domains and finally learn a generalizable model across diverse tasks is a long-lasting challenge. Continual learning (CL) has…

Linear attention methods offer a compelling alternative to softmax attention due to their efficiency in recurrent decoding. Recent research has focused on enhancing standard linear attention by incorporating gating while retaining its…

Pre-trained large language models based on Transformers have demonstrated remarkable in-context learning (ICL) abilities. With just a few demonstration examples, the models can implement new tasks without any parameter updates. However, it…

Large language models (LLMs) excel at few-shot in-context learning (ICL) -- learning from a few examples provided in context at inference, without any weight updates. Newly expanded context windows allow us to investigate ICL with hundreds…