相关论文: Keypoint Abstraction using Large Models for Object…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

In-context learning (ICL) has emerged as a powerful paradigm for adapting large language models (LLMs) to new and data-scarce tasks using only a few carefully selected task-specific examples presented in the prompt. However, given the…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

Current large language models (LLMs) are constrained by human-derived training data and limited by a single level of abstraction that impedes definitive truth judgments. This paper introduces a novel framework in which AI models…

We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisition with minimum human effort. Unlike prior approaches that…

Many leading self-supervised methods for unsupervised representation learning, in particular those for embedding image features, are built on variants of the instance discrimination task, whose optimization is known to be prone to…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

While imitation learning has shown impressive results in single-task robot manipulation, scaling it to multi-task settings remains a fundamental challenge due to issues such as suboptimal demonstrations, trajectory noise, and behavioral…

This paper proposes a novel paradigm for the unsupervised learning of object landmark detectors. Contrary to existing methods that build on auxiliary tasks such as image generation or equivariance, we propose a self-training approach where,…

Despite the recent successes of large, pretrained neural language models (LLMs), comparatively little is known about the representations of linguistic structure they learn during pretraining, which can lead to unexpected behaviors in…

Large Language Models (LLMs) have demonstrated exceptional proficiency in text understanding and embedding tasks. However, their potential in multimodal representation, particularly for item-to-item (I2I) recommendations, remains…

With the advent of pretrained language models (LMs), increasing research efforts have been focusing on infusing commonsense and domain-specific knowledge to prepare LMs for downstream tasks. These works attempt to leverage knowledge graphs,…

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities…

Can a Large Language Model (LLM) solve simple abstract reasoning problems? We explore this broad question through a systematic analysis of GPT on the Abstraction and Reasoning Corpus (ARC), a representative benchmark of abstract reasoning…

Large Language Models (LLMs) pose a new paradigm of modeling and computation for information tasks. Recommendation systems are a critical application domain poised to benefit significantly from the sequence modeling capabilities and world…

Deep Reinforcement Learning has shown significant progress in extracting useful representations from high-dimensional inputs albeit using hand-crafted auxiliary tasks and pseudo rewards. Automatically learning such representations in an…

Machine learning is a vital part of many real-world systems, but several concerns remain about the lack of interpretability, explainability and robustness of black-box AI systems. Concept Bottleneck Models (CBM) address some of these…