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

In-Context Learning (ICL) is suffering from unsatisfactory performance and under-calibration due to high prior bias and unfaithful confidence. Some previous works fine-tuned language models for better ICL performance with enormous datasets…

Image manipulation localization (IML) faces a fundamental trade-off between minimizing annotation cost and achieving fine-grained localization accuracy. Existing fully-supervised IML methods depend heavily on dense pixel-level mask…

Incremental Learning (IL) is useful when artificial systems need to deal with streams of data and do not have access to all data at all times. The most challenging setting requires a constant complexity of the deep model and an incremental…

Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions. However, these methods often require large datasets and…

This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…

Growing demands in today's industry results in increasingly stringent performance and throughput specifications. For accurate positioning of high-precision motion systems, feedforward control plays a crucial role. Nonetheless, conventional…

Imitation learning (IL) is a general learning paradigm for tackling sequential decision-making problems. Interactive imitation learning, where learners can interactively query for expert demonstrations, has been shown to achieve provably…

We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during execution. We investigate the effectiveness of the Continuity-based…

Vision-Language-Action (VLA) models leveraging the native autoregressive paradigm of Vision-Language Models (VLMs) have demonstrated superior instruction-following and training efficiency. Central to this paradigm is action tokenization,…

Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to…

Visual In-Context Learning (ICL) has emerged as a promising research area due to its capability to accomplish various tasks with limited example pairs through analogical reasoning. However, training-based visual ICL has limitations in its…

Imitation Learning (IL) holds great promise for enabling agile locomotion in embodied agents. However, many existing locomotion benchmarks primarily focus on simplified toy tasks, often failing to capture the complexity of real-world…

In this paper, we conduct a comprehensive study of In-Context Learning (ICL) by addressing several open questions: (a) What type of ICL estimator is learned by large language models? (b) What is a proper performance metric for ICL and what…

Existing vector quantization (VQ) methods struggle with scalability, largely attributed to the instability of the codebook that undergoes partial updates during training. The codebook is prone to collapse as utilization decreases, due to…

Replicating In-Context Learning (ICL) in computer vision remains challenging due to task heterogeneity. We propose \textbf{VIRAL}, a framework that elicits visual reasoning from a pre-trained image editing model by formulating ICL as…

Masked image modeling (MIM) has become a popular strategy for self-supervised learning~(SSL) of visual representations with Vision Transformers. A representative MIM model, the masked auto-encoder (MAE), randomly masks a subset of image…

Robotic imitation learning has advanced from solving static tasks to addressing dynamic interaction scenarios, but testing and evaluation remain costly and challenging due to the need for real-time interaction with dynamic environments. We…

We present a novel hierarchical spatiotemporal action tokenizer for in-context imitation learning. We first propose a hierarchical approach, which consists of two successive levels of vector quantization. In particular, the lower level…

In-context learning (ICL) is a key building block of modern large language models, yet its theoretical mechanisms remain poorly understood. It is particularly mysterious how ICL operates in real-world applications where tasks have a common…

As language models continue to scale, Large Language Models (LLMs) have exhibited emerging capabilities in In-Context Learning (ICL), enabling them to solve language tasks by prefixing a few in-context demonstrations (ICDs) as context.…