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

Self-attention has emerged as a vital component of state-of-the-art sequence-to-sequence models for natural language processing in recent years, brought to the forefront by pre-trained bi-directional Transformer models. Its effectiveness is…

Multimodal learning pipelines have benefited from the success of pretrained language models. However, this comes at the cost of increased model parameters. In this work, we propose Adapted Multimodal BERT (AMB), a BERT-based architecture…

Recent advancements in large-scale models have showcased remarkable generalization capabilities in various tasks. However, integrating multimodal processing into these models presents a significant challenge, as it often comes with a high…

Recent works on multi-modal emotion recognition move towards end-to-end models, which can extract the task-specific features supervised by the target task compared with the two-phase pipeline. However, previous methods only model the…

Pre-trained language models have been dominating the field of natural language processing in recent years, and have led to significant performance gains for various complex natural language tasks. One of the most prominent pre-trained…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

Robotic systems deployed in real-world environments often operate under conditions of partial and often intermittent observability, where sensor inputs may be noisy, occluded, or entirely unavailable due to failures or environmental…

Modern machine learning systems rely on large datasets to attain broad generalization, and this often poses a challenge in robot learning, where each robotic platform and task might have only a small dataset. By training a single policy…

Advances in large vision-language models (VLMs) have stimulated growing interest in vision-language-action (VLA) systems for robot manipulation. However, existing manipulation datasets remain costly to curate, highly embodiment-specific,…

The canonical approach to video captioning dictates a caption generation model to learn from offline-extracted dense video features. These feature extractors usually operate on video frames sampled at a fixed frame rate and are often…

Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…

The recent success of transformer models in language, such as BERT, has motivated the use of such architectures for multi-modal feature learning and tasks. However, most multi-modal variants (e.g., ViLBERT) have limited themselves to…

The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs,…

Today, the acquisition of various behavioral log data has enabled deeper understanding of customer preferences and future behaviors in the marketing field. In particular, multimodal deep learning has achieved highly accurate predictions by…

End-to-end learning from sensory data has shown promising results in autonomous driving. While employing many sensors enhances world perception and should lead to more robust and reliable behavior of autonomous vehicles, it is challenging…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

Speech modeling methods learn one embedding for a fixed segment of speech, typically in between 10-25 ms. The information present in speech can be divided into two categories: "what is being said" (content) and "how it is expressed" (other)…

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

Large behavior models have shown strong dexterous manipulation capabilities by extending imitation learning to large-scale training on multi-task robot data, yet their generalization remains limited by the insufficient robot data coverage.…