相关论文: Are Transformers Truly Foundational for Robotics?

In the burgeoning field of artificial intelligence (AI), understanding the capabilities and limitations of programming-oriented models is crucial. This paper presents a novel evaluation of the programming proficiency of Generative…

Humans exhibit remarkable compositional reasoning by integrating knowledge from various sources. For example, if someone learns ( B = f(A) ) from one source and ( C = g(B) ) from another, they can deduce ( C=g(B)=g(f(A)) ) even without…

Transformer architecture has widespread applications, particularly in Natural Language Processing and computer vision. Recently Transformers have been employed in various aspects of time-series analysis. This tutorial provides an overview…

It is intractable for assistive robots to have all functionalities pre-programmed prior to deployment. Rather, it is more realistic for robots to perform supplemental, on-site learning about user's needs and preferences, and particularities…

Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation…

Transformers have dominated empirical machine learning models of natural language processing. In this paper, we introduce basic concepts of Transformers and present key techniques that form the recent advances of these models. This includes…

In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emerging with the development of robotics, both hardware and…

Today, the rapid growth of applications reliant on datacenters calls for new advancements to meet the increasing traffic and computational demands. Traffic traces from datacenters are essential for further development and optimization of…

Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…

We consider the problem of spatial path planning. In contrast to the classical solutions which optimize a new plan from scratch and assume access to the full map with ground truth obstacle locations, we learn a planner from the data in a…

Developed by OpenAI, ChatGPT (Conditional Generative Pre-trained Transformer) is an artificial intelligence technology that is fine-tuned using supervised machine learning and reinforcement learning techniques, allowing a computer to…

Multiple domains like vision, natural language, and audio are witnessing tremendous progress by leveraging Transformers for large scale pre-training followed by task specific fine tuning. In contrast, in robotics we primarily train a single…

A foundation model like GPT elicits many emergent abilities, owing to the pre-training with broad inclusion of data and the use of the powerful Transformer architecture. While foundation models in natural languages are prevalent, can we…

Scaling transformers has led to significant breakthroughs in many domains, leading to a paradigm in which larger versions of existing models are trained and released on a periodic basis. New instances of such models are typically trained…

Fine-tuning pretrained language models has shown promising results on a wide range of tasks, but when encountering a novel task, do they rely more on generic pretrained representation, or develop brand new task-specific solutions? Here, we…

Parameter-efficient fine-tuning approaches have recently garnered a lot of attention. Having considerably lower number of trainable weights, these methods can bring about scalability and computational effectiveness. In this paper, we look…

Simulating physics processes and detector responses is essential in high energy physics and represents significant computing costs. Generative machine learning has been demonstrated to be potentially powerful in accelerating simulations,…

This study addresses the predictive limitation of probabilistic circuits and introduces transformations as a remedy to overcome it. We demonstrate this limitation in robotic scenarios. We motivate that independent component analysis is a…

Large pre-trained models have demonstrated remarkable capabilities across domains, but their effectiveness in time series forecasting remains understudied. This work empirically examines whether pre-trained large-scale time series models…

Transformer-based large language models have remarkable potential to accelerate design optimization for applications such as drug development and materials discovery. Self-supervised pretraining of transformer models requires large-scale…