相关论文: Bilevel Learning for Bilevel Planning

Deep neural networks often severely forget previously learned knowledge when learning new knowledge. Various continual learning (CL) methods have been proposed to handle such a catastrophic forgetting issue from different perspectives and…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Large vision language models (LVLMs) achieve remarkable performance through Vision In-context Learning (VICL), a process that depends significantly on demonstrations retrieved from an extensive collection of annotated examples (retrieval…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

Bridging continuous perceptual signals and discrete symbolic reasoning is a fundamental challenge in AI systems that must operate under uncertainty. We present a neuro-symbolic framework that explicitly models and propagates uncertainty…

Understanding visual inputs for a given task amidst varied changes is a key challenge posed by visual reinforcement learning agents. We propose \textit{Value Explicit Pretraining} (VEP), a method that learns generalizable representations…

A key property of neural networks (both biological and artificial) is how they learn to represent and manipulate input information in order to solve a task. Different types of representations may be suited to different types of tasks,…

In-context learning allows adapting a model to new tasks given a task description at test time. In this paper, we present IMProv - a generative model that is able to in-context learn visual tasks from multimodal prompts. Given a textual…

Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a…

Vision-language pre-training (VLP) on large-scale image-text pairs has recently witnessed rapid progress for learning cross-modal representations. Existing pre-training methods either directly concatenate image representation and text…

Prompt learning has achieved great success in efficiently exploiting large-scale pre-trained models in natural language processing (NLP). It reformulates the downstream tasks as the generative pre-training ones to achieve consistency, thus…

Continual learning aims to refine model parameters for new tasks while retaining knowledge from previous tasks. Recently, prompt-based learning has emerged to leverage pre-trained models to be prompted to learn subsequent tasks without the…

One of the main obstacles for developing flexible AI systems is the split between data-based learners and model-based solvers. Solvers such as classical planners are very flexible and can deal with a variety of problem instances and goals…

Inverse reinforcement learning (IRL) learns a reward function and a corresponding policy that best fit the demonstration data of an expert. However, in the current IRL setting, the learner is isolated from the expert and can only passively…

In-context learning (ICL) enables large language models (LLMs) to perform downstream tasks through advanced prompting and high-quality demonstrations. However, traditional ICL paradigms encounter significant limitations in complex reasoning…

How should we learn visual representations for embodied agents that must see and move? The status quo is tabula rasa in vivo, i.e. learning visual representations from scratch while also learning to move, potentially augmented with…

General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…

Modern reinforcement learning (RL) systems have demonstrated remarkable capabilities in complex environments, such as video games. However, they still fall short of achieving human-like sample efficiency and adaptability when learning new…

In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…

Humans have the capability, aided by the expressive compositionality of their language, to learn quickly by demonstration. They are able to describe unseen task-performing procedures and generalize their execution to other contexts. In this…