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

In recent years, multimodal learning has become essential in robotic vision and information fusion, especially for understanding human behavior in complex environments. However, current methods struggle to fully leverage the textual…

Vision-Language-Action (VLA) models have shown great potential in general robotic decision-making tasks via imitation learning. However, the variable quality of training data often constrains the performance of these models. On the other…

Recent advancements in Multimodal Large Language Models (MLLMs) have shown remarkable capabilities across various multimodal contexts. However, their application in robotic scenarios, particularly for long-horizon manipulation tasks,…

Language model pre-training has shown promising results in various downstream tasks. In this context, we introduce a cross-modal pre-trained language model, called Speech-Text BERT (ST-BERT), to tackle end-to-end spoken language…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Self-supervised learning has become increasingly important to leverage the abundance of unlabeled data available on platforms like YouTube. Whereas most existing approaches learn low-level representations, we propose a joint…

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…

Relying on multi-modal observations, embodied robots (e.g., humanoid robots) could perform multiple robotic manipulation tasks in unstructured real-world environments. However, most language-conditioned behavior-cloning agents in robots…

Building multi-modal language models has been a trend in the recent years, where additional modalities such as image, video, speech, etc. are jointly learned along with natural languages (i.e., textual information). Despite the success of…

BERT is a cutting-edge language representation model pre-trained by a large corpus, which achieves superior performances on various natural language understanding tasks. However, a major blocking issue of applying BERT to online services is…

Bidirectional Encoder Representations from Transformers (BERT) has shown marvelous improvements across various NLP tasks, and consecutive variants have been proposed to further improve the performance of the pre-trained language models. In…

Hate speech detection on Chinese social networks presents distinct challenges, particularly due to the widespread use of cloaking techniques designed to evade conventional text-based detection systems. Although large language models (LLMs)…

Bidirectional Encoder Representations from Transformers (BERT) has shown marvelous improvements across various NLP tasks, and its consecutive variants have been proposed to further improve the performance of the pre-trained language models.…

Human infants learn language while interacting with their environment in which their caregivers may describe the objects and actions they perform. Similar to human infants, artificial agents can learn language while interacting with their…

While data-driven imitation learning has revolutionized robotic manipulation, current approaches remain constrained by the scarcity of large-scale, diverse real-world demonstrations. Consequently, the ability of existing models to…

This paper presents UniBERT, a compact multilingual language model that uses an innovative training framework that integrates three components: masked language modeling, adversarial training, and knowledge distillation. Pre-trained on a…

End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…

Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based compositional approaches. Concrete policies typically attain high…

Recent developments in machine translation and multilingual text generation have led researchers to adopt trained metrics such as COMET or BLEURT, which treat evaluation as a regression problem and use representations from multilingual…

Pre-trained language models have demonstrated superior performance in various natural language processing tasks. However, these models usually contain hundreds of millions of parameters, which limits their practicality because of latency…