相关论文: RoboBERT: An End-to-end Multimodal Robotic Manipul…

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…

Large-scale language model pretraining is a very successful form of self-supervised learning in natural language processing, but it is increasingly expensive to perform as the models and pretraining corpora have become larger over time. We…

Recently, robotics has advanced significantly through the integration of larger models and large-scale datasets. However, challenges remain in applying these models to 3D spatial interactions and managing data collection costs. To address…

Foundation models trained on web-scale data have revolutionized robotics, but their application to low-level control remains largely limited to behavioral cloning. Drawing inspiration from the success of the reinforcement learning stage in…

Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory must represent past events at multiple…

End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end-to-end learning mitigates key limitations such as…

Recent state-of-the-art language models utilize a two-phase training procedure comprised of (i) unsupervised pre-training on unlabeled text, and (ii) fine-tuning for a specific supervised task. More recently, many studies have been focused…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Encoder-only languages models are frequently used for a variety of standard machine learning tasks, including classification and retrieval. However, there has been a lack of recent research for encoder models, especially with respect to…

Multi-lingual contextualized embeddings, such as multilingual-BERT (mBERT), have shown success in a variety of zero-shot cross-lingual tasks. However, these models are limited by having inconsistent contextualized representations of…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

The pre-trained language models like BERT, though powerful in many natural language processing tasks, are both computation and memory expensive. To alleviate this problem, one approach is to compress them for specific tasks before…

Large-scale multi-task robotic manipulation systems often rely on text to specify the task. In this work, we explore whether a robot can learn by observing humans. To do so, the robot must understand a person's intent and perform the…

Imitation learning from human motion capture (MoCap) data provides a promising way to train humanoid robots. However, due to differences in morphology, such as varying degrees of joint freedom and force limits, exact replication of human…

Pre-trained language models, such as BERT, have achieved significant accuracy gain in many natural language processing tasks. Despite its effectiveness, the huge number of parameters makes training a BERT model computationally very…

Embedding models are pivotal in industrial information retrieval systems like search and advertising. However, existing pretrained models often exhibit fixed architectures and embedding dimensionalities, posing significant challenges when…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Building robots that can perceive, reason, and act in dynamic, unstructured environments remains a core challenge. Recent embodied systems often adopt a dual-system paradigm, where System 2 handles high-level reasoning while System 1…

We introduce a new language representation model called BERT, which stands for Bidirectional Encoder Representations from Transformers. Unlike recent language representation models, BERT is designed to pre-train deep bidirectional…

Considering how to make the model accurately understand and follow natural language instructions and perform actions consistent with world knowledge is a key challenge in robot manipulation. This mainly includes human fuzzy instruction…