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

Contrastive learning has delivered impressive results for various tasks in the self-supervised regime. However, existing approaches optimize for learning representations specific to downstream scenarios, i.e., \textit{global}…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

Many meta-learning algorithms can be formulated into an interleaved process, in the sense that task-specific predictors are learned during inner-task adaptation and meta-parameters are updated during meta-update. The normal meta-training…

Human behavior understanding in videos is a complex, still unsolved problem and requires to accurately model motion at both the local (pixel-wise dense prediction) and global (aggregation of motion cues) levels. Current approaches based on…

Consistency is a key requirement of high-quality translation. It is especially important to adhere to pre-approved terminology and adapt to corrected translations in domain-specific projects. Machine translation (MT) has achieved…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

Generating realistic robotic manipulation videos is an important step toward unifying perception, planning, and action in embodied agents. While existing video diffusion models require large domain-specific datasets and struggle to…

Recent works have shown that Large Language Models (LLMs) can be applied to ground natural language to a wide variety of robot skills. However, in practice, learning multi-task, language-conditioned robotic skills typically requires…

The natural world is abundant with concepts expressed via visual, acoustic, tactile, and linguistic modalities. Much of the existing progress in multimodal learning, however, focuses primarily on problems where the same set of modalities…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

The remarkable success of large language models has been driven by dense models trained on massive unlabeled, unstructured corpora. These corpora typically contain text from diverse, heterogeneous sources, but information about the source…

Automatic video activity recognition is crucial across numerous domains like surveillance, healthcare, and robotics. However, recognizing human activities from video data becomes challenging when training and test data stem from diverse…

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…

Large language models (LLMs) have demonstrated remarkable proficiency in in-context learning (ICL), where models adapt to new tasks through example-based prompts without requiring parameter updates. However, understanding how tasks are…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

We address the task of unsupervised retargeting of human actions from one video to another. We consider the challenging setting where only a few frames of the target is available. The core of our approach is a conditional generative model…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Unsupervised pre-training methods utilizing large and diverse datasets have achieved tremendous success across a range of domains. Recent work has investigated such unsupervised pre-training methods for model-based reinforcement learning…