相关论文: MTIL: Encoding Full History with Mamba for Tempora…

The vision-language tracking task aims to perform object tracking based on various modality references. Existing Transformer-based vision-language tracking methods have made remarkable progress by leveraging the global modeling ability of…

Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…

In recent years, Transformers-based models have made significant progress in the field of image restoration by leveraging their inherent ability to capture complex contextual features. Recently, Mamba models have made a splash in the field…

In recent years, Transformers have become the de-facto architecture for long-term sequence forecasting (LTSF), but faces challenges such as quadratic complexity and permutation invariant bias. A recent model, Mamba, based on selective state…

In-context imitation learning allows robots to acquire skills from demonstrations, yet one-shot trajectory generation remains fragile under environmental variation. We propose SAIL, a framework that reframes robot imitation as an iterative…

State Space Models (SSMs), especially recent Mamba architecture, have achieved remarkable success in sequence modeling tasks. However, extending SSMs to computer vision remains challenging due to the non-sequential structure of visual data…

Temporal context is essential for robotic manipulation because such tasks are inherently non-Markovian, yet mainstream VLA models typically overlook it and struggle with long-horizon, temporally dependent tasks. Cognitive science suggests…

Multimodal Large Language Models (MLLMs) have attracted much attention for their multifunctionality. However, traditional Transformer architectures incur significant overhead due to their secondary computational complexity. To address this…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Recently, the state space model Mamba has demonstrated efficient long-sequence modeling capabilities, particularly for addressing long-sequence visual tasks in 3D medical imaging. However, existing generative self-supervised learning…

Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new…

In-Context Learning (ICL) is a phenomenon where task learning occurs through a prompt sequence without the necessity of parameter updates. ICL in Multi-Headed Attention (MHA) with absolute positional embedding has been the focus of more…

The quadratic complexity of the attention mechanism in Transformer models has motivated the development of alternative architectures with sub-quadratic scaling, such as state-space models. Among these, Mamba has emerged as a leading…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Multi-domain task-incremental learning requires a model to sequentially acquire knowledge across visually diverse domains without forgetting prior tasks, and without access to task identity at inference. Parameter-efficient methods built on…

Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…

Despite the remarkable quality of LLM-based text-to-speech systems, their reliance on autoregressive Transformers leads to quadratic computational complexity, which severely limits practical applications. Linear-time alternatives, notably…

Continual Learning (CL) aims to equip AI models with the ability to learn a sequence of tasks over time, without forgetting previously learned knowledge. Recently, State Space Models (SSMs), particularly the Mamba model, have achieved…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…