相关论文: RoboSSM: Scalable In-context Imitation Learning vi…

In-context learning (ICL) enables large language models to perform few-shot learning by conditioning on labeled examples in the prompt. Despite its flexibility, ICL suffers from instability -- especially as prompt length increases with more…

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…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

In-Context Learning (ICL) is a technique by which language models make predictions based on examples provided in their input context. Previously, their context window size imposed a limit on the number of examples that can be shown, making…

There has been increasing interest in exploring the capabilities of advanced large language models (LLMs) in the field of information extraction (IE), specifically focusing on tasks related to named entity recognition (NER) and relation…

Robotic imitation learning typically requires models that capture multimodal action distributions while operating at real-time control rates and accommodating multiple sensing modalities. Although recent generative approaches such as…

Recent advancements in language models have demonstrated remarkable in-context learning abilities, prompting the exploration of in-context reinforcement learning (ICRL) to extend the promise to decision domains. Due to involving more…

Although transformers dominate many code-specific tasks, they have significant limitations. This paper explores State Space Models (SSMs) as a promising alternative for code understanding tasks such as retrieval, classification, and clone…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

Large Multimodal Models (LMMs) have made significant breakthroughs with the advancement of instruction tuning. However, while existing models can understand images and videos at a holistic level, they still struggle with instance-level…

Large Language Models (LLMs) can adapt to new tasks via in-context learning (ICL). ICL is efficient as it does not require any parameter updates to the trained LLM, but only few annotated examples as input for the LLM. In this work, we…

The majority of language model training builds on imitation learning. It covers pretraining, supervised fine-tuning, and affects the starting conditions for reinforcement learning from human feedback (RLHF). The simplicity and scalability…

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and…

State-space models (SSMs), particularly Mamba, emerge as an efficient Transformer alternative with linear complexity for long-sequence modeling. Recent empirical works demonstrate Mamba's in-context learning (ICL) capabilities competitive…

Imitation learning (IL) is notably effective for robotic tasks where directly programming behaviors or defining optimal control costs is challenging. In this work, we address a scenario where the imitator relies solely on observed behavior…

Recently, In-context Learning (ICL) has become a significant inference paradigm in Large Multimodal Models (LMMs), utilizing a few in-context demonstrations (ICDs) to prompt LMMs for new tasks. However, the synergistic effects in multimodal…

State-space models (SSMs) are a highly expressive model class for learning patterns in time series data and for system identification. Deterministic versions of SSMs (e.g. LSTMs) proved extremely successful in modeling complex time series…

In-context learning (ICL) has transformed the use of large language models (LLMs) for NLP tasks, enabling few-shot learning by conditioning on labeled examples without finetuning. Despite its effectiveness, ICL is prone to errors,…

The intrinsic compliance and high degree of freedom (DoF) of redundant soft manipulators facilitate safe interaction and flexible task execution. However, effective kinematic control remains highly challenging, as it must handle…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…