相关论文: Learning Procedural-aware Video Representations th…

Video recognition remains an open challenge, requiring the identification of diverse content categories within videos. Mainstream approaches often perform flat classification, overlooking the intrinsic hierarchical structure relating…

Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…

Graph Retrieval-Augmented Generation (GraphRAG) has emerged as a promising paradigm that organizes external knowledge into structured graphs of entities and relations, enabling large language models (LLMs) to perform complex reasoning…

Understanding human actions from videos plays a critical role across various domains, including sports analytics. In figure skating, accurately recognizing the type and timing of jumps a skater performs is essential for objective…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

We investigate a paradigm in multi-task reinforcement learning (MT-RL) in which an agent is placed in an environment and needs to learn to perform a series of tasks, within this space. Since the environment does not change, there is…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Choosing an appropriate representation of the environment for the underlying decision-making process of the reinforcement learning agent is not always straightforward. The state representation should be inclusive enough to allow the agent…

This paper presents a novel state representation for reward-free Markov decision processes. The idea is to learn, in a self-supervised manner, an embedding space where distances between pairs of embedded states correspond to the minimum…

Deep reinforcement learning (RL) algorithms suffer severe performance degradation when the interaction data is scarce, which limits their real-world application. Recently, visual representation learning has been shown to be effective and…

While the rapid progress of deep learning fuels end-to-end reinforcement learning (RL), direct application, especially in high-dimensional space like robotic scenarios still suffers from low sample efficiency. Therefore State Representation…

Humans have the capability, aided by the expressive compositionality of their language, to learn quickly by demonstration. They are able to describe unseen task-performing procedures and generalize their execution to other contexts. In this…

In this work, we focus on the task of procedure planning from instructional videos with text supervision, where a model aims to predict an action sequence to transform the initial visual state into the goal visual state. A critical…

Scene understanding requires the extraction and representation of scene components together with their properties and inter-relations. We describe a model in which meaningful scene structures are extracted from the image by an iterative…

Robots could learn their own state and world representation from perception and experience without supervision. This desirable goal is the main focus of our field of interest, state representation learning (SRL). Indeed, a compact…

Understanding the steps required to perform a task is an important skill for AI systems. Learning these steps from instructional videos involves two subproblems: (i) identifying the temporal boundary of sequentially occurring segments and…

Video-Language Pre-training models have recently significantly improved various multi-modal downstream tasks. Previous dominant works mainly adopt contrastive learning to achieve global feature alignment across modalities. However, the…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally…