相关论文: Are Transformers Truly Foundational for Robotics?

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

Transformers demonstrate significant advantages as the building block of modern LLMs. In this work, we study the capacities of Transformers in performing unsupervised learning. We show that multi-layered Transformers, given a sufficiently…

We analyzed effectiveness of three generative pre-trained transformer (GPT) models in answering multiple-choice question (MCQ) assessments, often involving short snippets of code, from introductory and intermediate programming courses at…

In the era of pre-trained language models, Transformers are the de facto choice of model architectures. While recent research has shown promise in entirely convolutional, or CNN, architectures, they have not been explored using the…

Pretraining on large, semantically rich datasets is key for developing language models. Surprisingly, recent studies have shown that even synthetic data, generated procedurally through simple semantic-free algorithms, can yield some of the…

The emergence of an AI-powered chatbot that can generate human-like sentences and write coherent essays has caught the world's attention. This paper discusses the historical overview of chatbots and the technology behind Chat Generative…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…

This document serves as a position paper that outlines the authors' vision for a potential pathway towards generalist robots. The purpose of this document is to share the excitement of the authors with the community and highlight a…

Robotic hardware designs are becoming more complex as the variety and number of on-board sensors increase and as greater computational power is provided in ever-smaller packages on-board robots. These advances in hardware, however, do not…

Large-scale pre-training has recently emerged as a technique for creating capable, general purpose, generative models such as GPT-3, Megatron-Turing NLG, Gopher, and many others. In this paper, we highlight a counterintuitive property of…

Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…

Large Language Models (LLMs) and, more specifically, the Generative Pre-Trained Transformers (GPT) can help stakeholders in climate action explore digital knowledge bases and extract and utilize climate action knowledge in a sustainable…

Major theories of military innovation focus on relatively narrow technological developments, such as nuclear weapons or aircraft carriers. Arguably the most profound military implications of technological change, however, come from more…

Do transformers learn like brains? A key challenge in addressing this question is that transformers and brains are trained on fundamentally different data. Brains are initially "trained" on prenatal sensory experiences (e.g., retinal…

Closed-loop control of nonlinear dynamical systems with partial-state observability demands expert knowledge of a diverse, less standardized set of theoretical tools. Moreover, it requires a delicate integration of controller and estimator…

Large language models, which are often trained for hundreds of thousands of compute days, have shown remarkable capabilities for zero- and few-shot learning. Given their computational cost, these models are difficult to replicate without…

Recently, pre-trained Transformer based language models such as BERT and GPT, have shown great improvement in many Natural Language Processing (NLP) tasks. However, these models contain a large amount of parameters. The emergence of even…

Training robotic policies directly in the real world is expensive and unscalable. Although generative simulation enables large-scale data synthesis, current approaches often fail to generate logically coherent long-horizon tasks and…

Evolutionary Robotics and Robot Learning are two fields in robotics that aim to automatically optimize robot designs. The key difference between them lies in what is being optimized and the time scale involved. Evolutionary Robotics is a…

Transformers are powerful text representation learners, useful for all kinds of clinical decision support tasks. Although they outperform baselines on readmission prediction, they are not infallible. Here, we look into one such failure…