相关论文: DeCo: Task Decomposition and Skill Composition for…

Question decomposition has emerged as an effective strategy for prompting Large Language Models (LLMs) to answer complex questions. However, while existing methods primarily focus on unimodal language models, the question decomposition…

Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to new scene configurations not covered by training data. On the other hand, humans…

Training large neural network models requires extensive computational resources, often distributed across several nodes and accelerators. Recent findings suggest that it may be sufficient to only exchange the fast moving components of the…

We study solving large-scale fixed-point equation \(x^\star=\bar F(x^\star)\) with decomposition. Standard strict decomposition assigns each agent a disjoint block and evaluates updates using only owned coordinates. For most operators,…

Current LLM coding agents are predominantly trained on composite benchmarks (e.g., bug fixing), which often leads to task-specific overfitting and limited generalization. To address this, we propose a novel scaling paradigm that shifts the…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Current large vision-language models (LVLMs) typically employ a connector module to link visual features with text embeddings of large language models (LLMs) and use end-to-end training to achieve multi-modal understanding in a unified…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Due to the large number of parameters, the inference phase of Large Language Models (LLMs) is resource-intensive. Unlike traditional model compression, which needs retraining, recent dynamic computation methods show that not all components…

Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…

Large language models (LLMs) are increasingly used as semantic encoders and decoders in semantic communication. However, current LLM based systems mostly remain monolithic: a single prompted model, or a tightly coupled transmitter/receiver…

The widespread adoption of large-scale pre-training techniques has significantly advanced the development of medical foundation models, enabling them to serve as versatile tools across a broad range of medical tasks. However, despite their…

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle…

Existing knowledge probing methods rely on pre-defined queries, limiting extraction to known concepts. We introduce DecompressionLM, a stateless framework for zero-shot concept graph extraction that discovers what language models encode…

Image denoising and high-level vision tasks are usually handled independently in the conventional practice of computer vision, and their connection is fragile. In this paper, we cope with the two jointly and explore the mutual influence…

The popularity of large-scale pre-training has promoted the development of medical foundation models. However, some studies have shown that although foundation models exhibit strong general feature extraction capabilities, their performance…

We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a robust multi-task language-conditioned visuo-motor policy.…

Multi-Task Learning (MTL) in Neural Combinatorial Optimization (NCO) is a promising approach to train a unified model capable of solving multiple Vehicle Routing Problem (VRP) variants. However, existing Reinforcement Learning (RL)-based…

Synthesizing realistic human-object interaction (HOI) is essential for 3D computer vision and robotics, underpinning animation and embodied control. Existing approaches often require manually specified intermediate waypoints and place all…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…