相关论文: Grounded Task Axes: Zero-Shot Semantic Skill Gener…

Task-oriented dialog systems empower users to accomplish their goals by facilitating intuitive and expressive natural language interactions. State-of-the-art approaches in task-oriented dialog systems formulate the problem as a conditional…

Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large…

Large pretrained Transformer language models have been shown to exhibit zero-shot generalization, i.e. they can perform a wide variety of tasks that they were not explicitly trained on. However, the architectures and pretraining objectives…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble Skill Transfer (TEST) framework, a pioneering offline…

Robots often struggle to generalize from a single demonstration due to the lack of a transferable and interpretable spatial representation. In this work, we introduce TReF-6, a method that infers a simplified, abstracted 6DoF Task-Relevant…

Deploying robots in real-world environments, such as households and manufacturing lines, requires generalization across novel task specifications without violating safety constraints. Linear temporal logic (LTL) is a widely used task…

Despite the surging demands for multilingual task-oriented dialog systems (e.g., Alexa, Google Home), there has been less research done in multilingual or cross-lingual scenarios. Hence, we propose a zero-shot adaptation of task-oriented…

Foundation models are pretrained on large-scale corpora to learn generalizable patterns across domains and tasks -- such as contours, textures, and edges in images, or tokens and sentences in text. In contrast, discovering such generalities…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Systematic Generalization refers to a learning algorithm's ability to extrapolate learned behavior to unseen situations that are distinct but semantically similar to its training data. As shown in recent work, state-of-the-art deep learning…

Zero-shot action recognition, which addresses the issue of scalability and generalization in action recognition and allows the models to adapt to new and unseen actions dynamically, is an important research topic in computer vision…

Language grounding aims at linking the symbolic representation of language (e.g., words) into the rich perceptual knowledge of the outside world. The general approach is to embed both textual and visual information into a common space -the…

Transfer learning between different language pairs has shown its effectiveness for Neural Machine Translation (NMT) in low-resource scenario. However, existing transfer methods involving a common target language are far from success in the…

Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or…

Zero-shot referring expression comprehension aims at localizing bounding boxes in an image corresponding to provided textual prompts, which requires: (i) a fine-grained disentanglement of complex visual scene and textual context, and (ii) a…

In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…

A fundamental trait of intelligence is the ability to achieve goals in the face of novel circumstances, such as making decisions from new action choices. However, standard reinforcement learning assumes a fixed set of actions and requires…

Generalized Zero-Shot Learning (GZSL) targets recognizing new categories by learning transferable image representations. Existing methods find that, by aligning image representations with corresponding semantic labels, the semantic-aligned…

Transferring knowledge from a source domain to a target domain can be crucial for whole slide image classification, since the number of samples in a dataset is often limited due to high annotation costs. However, domain shift and task…