相关论文: Unifying Deep Predicate Invention with Pre-trained…

Learning abstract state representations and knowledge is crucial for long-horizon robot planning. We present InterPreT, an LLM-powered framework for robots to learn symbolic predicates from language feedback of human non-experts during…

A robot that learns from demonstrations should not just imitate what it sees -- it should understand the high-level concepts that are being demonstrated and generalize them to new tasks. Bilevel planning is a hierarchical model-based…

Tabular data prediction is a fundamental machine learning task for many applications. Existing methods predominantly employ discriminative modeling and operate under the assumption of a fixed target column, necessitating re-training for…

In this paper, we draw inspiration from Alberto Elfes' pioneering work in 1989, where he introduced the concept of the occupancy grid as World Models for robots. We imbue the robot with a spatial-temporal world model, termed UniWorld, to…

Our aim is to learn to solve long-horizon decision-making problems in complex robotics domains given low-level skills and a handful of short-horizon demonstrations containing sequences of images. To this end, we focus on learning abstract…

Randomly masking and predicting word tokens has been a successful approach in pre-training language models for a variety of downstream tasks. In this work, we observe that the same idea also applies naturally to sequential decision-making,…

Intelligent agents must reason over both continuous dynamics and discrete representations to generate effective plans in complex environments. Previous studies have shown that symbolic abstractions can emerge from neural effect predictors…

Broadly intelligent agents should form task-specific abstractions that selectively expose the essential elements of a task, while abstracting away the complexity of the raw sensorimotor space. In this work, we present Neuro-Symbolic…

Time-series analysis plays a pivotal role across a range of critical applications, from finance to healthcare, which involves various tasks, such as forecasting and classification. To handle the inherent complexities of time-series data,…

Self-supervised learning (SSL) holds promise in leveraging large amounts of unlabeled data. However, the success of popular SSL methods has limited on single-centric-object images like those in ImageNet and ignores the correlation among the…

In the context of autonomous driving, the significance of effective feature learning is widely acknowledged. While conventional 3D self-supervised pre-training methods have shown widespread success, most methods follow the ideas originally…

Most existing vision-language pre-training methods focus on understanding tasks and use BERT-like objectives (masked language modeling and image-text matching) during pretraining. Although they perform well in many understanding downstream…

In the era of deep learning, the increasing number of pre-trained models available online presents a wealth of knowledge. These models, developed with diverse architectures and trained on varied datasets for different tasks, provide unique…

Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…

Recent pre-trained language models (PLMs) equipped with foundation reasoning skills have shown remarkable performance on downstream complex tasks. However, the significant structure reasoning skill has been rarely studied, which involves…

The Contrastive Language-Image Pre-training (CLIP) framework has become a widely used approach for multimodal representation learning, particularly in image-text retrieval and clustering. However, its efficacy is constrained by three key…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Recent advances in Large Multi-modal Models (LMMs) have demonstrated their remarkable success as general-purpose multi-modal assistants, with particular focuses on holistic image- and video-language understanding. Conversely, less attention…

Scene labeling is a challenging classification problem where each input image requires a pixel-level prediction map. Recently, deep-learning-based methods have shown their effectiveness on solving this problem. However, we argue that the…

Building generalist robot policies that can handle diverse tasks in open-ended environments is a central challenge in robotics. To leverage knowledge from large-scale pretraining, prior work (VLA) has typically built generalist policies…