相关论文: Action Tokenizer Matters in In-Context Imitation L…

Current imitation learning approaches, predominantly based on deep neural networks (DNNs), offer efficient mechanisms for learning driving policies from real-world datasets. However, they suffer from inherent limitations in interpretability…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

In-context learning (ICL) has emerged as a powerful paradigm for easily adapting Large Language Models (LLMs) to various tasks. However, our understanding of how ICL works remains limited. We explore a simple model of ICL in a controlled…

Safety alignment in large language models relies on behavioral training that can be overridden when sufficiently strong in-context patterns compete with learned refusal behaviors. We introduce Involuntary In-Context Learning (IICL), an…

Reinforcement learning (RL) provides a powerful framework for decision-making, but its application in practice often requires a carefully designed reward function. Adversarial Imitation Learning (AIL) sheds light on automatic policy…

Imitation learning (IL) aims to learn an optimal policy from demonstrations. However, such demonstrations are often imperfect since collecting optimal ones is costly. To effectively learn from imperfect demonstrations, we propose a novel…

Advanced image tampering techniques are increasingly challenging the trustworthiness of multimedia, leading to the development of Image Manipulation Localization (IML). But what makes a good IML model? The answer lies in the way to capture…

Existing methods for arbitrary-shaped text detection in natural scenes face two critical issues, i.e., 1) fracture detections at the gaps in a text instance; and 2) inaccurate detections of arbitrary-shaped text instances with diverse…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Incremental Learning (IL) aims to accumulate knowledge from sequential input tasks while overcoming catastrophic forgetting. Existing IL methods typically assume that an incoming task has only increments of classes or domains, referred to…

We study offline imitation learning (IL) when part of the decision-relevant state is observed only through noisy measurements and the distribution may change between training and deployment. Such settings induce spurious state-action…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Imitation learning is a class of promising policy learning algorithms that is free from many practical issues with reinforcement learning, such as the reward design issue and the exploration hardness. However, the current imitation…

In-Context Learning (ICL) enables large language models (LLMs) to achieve rapid task adaptation by learning from demonstrations. With the increase in available context length of LLMs, recent experiments have shown that the performance of…

Nowadays, robots become a companion in everyday life. To be well-accepted by humans, robots should efficiently understand meanings of their partners' motions and body language, and respond accordingly. Learning concepts by imitation brings…

Recent advancements in video large multimodal models (LMMs) have significantly improved their video understanding and reasoning capabilities. However, their performance drops on out-of-distribution (OOD) tasks that are underrepresented in…

Interactive Imitation Learning (IIL) allows agents to acquire desired behaviors through human interventions, but current methods impose high cognitive demands on human supervisors. We propose the Adaptive Intervention Mechanism (AIM), a…

Transformers exhibit in-context learning (ICL): the ability to use novel information presented in the context without additional weight updates. Recent work shows that ICL emerges when models are trained on a sufficiently diverse set of…

Autoregressive vision-language-action (VLA) models have recently demonstrated strong capabilities in robotic manipulation. However, their core process of action tokenization often involves a trade-off between reconstruction fidelity and…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…