相关论文: Solving New Tasks by Adapting Internet Video Knowl…

An important aspect of intelligence is the ability to adapt to a novel task without any direct experience (zero-shot), based on its relationship to previous tasks. Humans can exhibit this cognitive flexibility. By contrast, models that…

We are motivated by the problem of learning policies for robotic systems with rich sensory inputs (e.g., vision) in a manner that allows us to guarantee generalization to environments unseen during training. We provide a framework for…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

Learning-based behavior prediction methods are increasingly being deployed in real-world autonomous systems, e.g., in fleets of self-driving vehicles, which are beginning to commercially operate in major cities across the world. Despite…

Text spotting, a task involving the extraction of textual information from image or video sequences, faces challenges in cross-domain adaption, such as image-to-image and image-to-video generalization. In this paper, we introduce a new…

Language models pretrained on text from a wide variety of sources form the foundation of today's NLP. In light of the success of these broad-coverage models, we investigate whether it is still helpful to tailor a pretrained model to the…

Recent progress of self-supervised visual representation learning has achieved remarkable success on many challenging computer vision benchmarks. However, whether these techniques can be used for domain adaptation has not been explored. In…

Large Language Models (LLMs) have demonstrated remarkable performance across diverse domains. However, effectively leveraging their vast knowledge for training smaller downstream models remains an open challenge, especially in domains like…

People interact with the real-world largely dependent on visual signal, which are ubiquitous and illustrate detailed demonstrations. In this paper, we explore utilizing visual signals as a new interface for models to interact with the…

Pre-trained language models have shown remarkable success in improving various downstream NLP tasks due to their ability to capture dependencies in textual data and generate natural responses. In this paper, we leverage the power of…

Images seen during test time are often not from the same distribution as images used for learning. This problem, known as domain shift, occurs when training classifiers from object-centric internet image databases and trying to apply them…

Large-scale generative models are shown to be useful for sampling meaningful candidate solutions, yet they often overlook task constraints and user preferences. Their full power is better harnessed when the models are coupled with external…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…

Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…

Recent manufacturing systems are increasingly adopting multi-robot collaboration to handle complex and dynamic environments. While multi-agent architectures support decentralized coordination among robot agents, they often face challenges…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

Simulation offers a promising approach for cheaply scaling training data for generalist policies. To scalably generate data from diverse and realistic tasks, existing algorithms either rely on large language models (LLMs) that may…

To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…

Attention-based architectures trained on internet-scale language data have demonstrated state of the art reasoning ability for various language-based tasks, such as logic problems and textual reasoning. Additionally, these Large Language…