相关论文: Sparse Imagination for Efficient Visual World Mode…

To quickly solve new tasks in complex environments, intelligent agents need to build up reusable knowledge. For example, a learned world model captures knowledge about the environment that applies to new tasks. Similarly, skills capture…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

Vision-Language-Action (VLA) models offer a unified framework for robotic perception and control, but their ability to scale to real-world, long-horizon tasks is limited by the high computational cost of attention and the large memory…

Video diffusion models have recently shown promise for world modeling through autoregressive frame prediction conditioned on actions. However, they struggle to maintain long-term memory due to the high computational cost associated with…

Planning is a powerful approach to reinforcement learning with several desirable properties. However, it requires a model of the world, which is not readily available in many real-life problems. In this paper, we propose to learn a world…

In recent years, Transformers have achieved remarkable progress in computer vision tasks. However, their global modeling often comes with substantial computational overhead, in stark contrast to the human eye's efficient information…

Autoregressive language models trained with next-token prediction generate text by sampling one discrete token at a time. Although very scalable, this objective forces the model to commit at every step, preventing it from exploring or…

Artificial intelligence workloads, especially transformer models, exhibit emergent sparsity in which computations perform selective sparse access to dense data. The workloads are inefficient on hardware designed for dense computations and…

Existing approaches for improving the efficiency of Large Vision-Language Models (LVLMs) are largely based on the concept of visual token reduction. This approach, however, creates an information bottleneck that impairs performance,…

The quadratic complexity of self-attention in Transformer models remains a significant bottleneck for processing long sequences and deploying large language models efficiently. For this approach, there has been significant research into…

Video world models have attracted significant attention for their ability to produce high-fidelity future visual observations conditioned on past observations and navigation actions. Temporally- and spatially-consistent, long-term world…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination…

Advanced autoregressive (AR) video generation models have improved visual fidelity and interactivity, but the quadratic complexity of attention remains a primary bottleneck for efficient deployment. While existing sparse attention solutions…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

Deliberating on large or continuous state spaces have been long standing challenges in reinforcement learning. Temporal Abstraction have somewhat made this possible, but efficiently planing using temporal abstraction still remains an issue.…

Large vision-language models (VLMs) enable joint processing of text and images. However, incorporating vision data significantly increases the prompt length, resulting in a longer time to first token (TTFT). This bottleneck can be…

Advancements in computer vision research have put transformer architecture as the state of the art in computer vision tasks. One of the known drawbacks of the transformer architecture is the high number of parameters, this can lead to a…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

Transformers' quadratic complexity with respect to the input sequence length has motivated a body of work on efficient sparse approximations to softmax. An alternative path, used by entmax transformers, consists of having built-in exact…