相关论文: Compact Task-Aligned Imitation Learning for Labora…

This study proposes a knowledge distillation algorithm based on large language models and feature alignment, aiming to effectively transfer the knowledge of large pre-trained models into lightweight student models, thereby reducing…

Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacking corrective training signals, minor execution errors…

With the advent of large pre-trained transformer models, fine-tuning these models for various downstream tasks is a critical problem. Paucity of training data, the existence of data silos, and stringent privacy constraints exacerbate this…

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…

In the past few years, transformers have achieved promising performances on various computer vision tasks. Unfortunately, the immense inference overhead of most existing vision transformers withholds their from being deployed on edge…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Training visual embeddings with labeled data supervision has been the de facto setup for representation learning in computer vision. Inspired by recent success of adopting masked image modeling (MIM) in self-supervised representation…

Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…

Federated fine-tuning enables Large Language Models (LLMs) to adapt to downstream tasks while preserving data privacy, but its resource-intensive nature limits deployment on edge devices. In this paper, we introduce Developmental Federated…

Recent advancements in large-scale models have showcased remarkable generalization capabilities in various tasks. However, integrating multimodal processing into these models presents a significant challenge, as it often comes with a high…

Recent works attribute the capability of in-context learning (ICL) in large pre-trained language models to implicitly simulating and fine-tuning an internal model (e.g., linear or 2-layer MLP) during inference. However, such constructions…

Text Image Machine Translation (TIMT) aims to translate texts embedded within an image into another language. Current TIMT studies primarily focus on providing translations for all the text within an image, while neglecting to provide…

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

Object rearrangement, a fundamental challenge in robotics, demands versatile strategies to handle diverse objects, configurations, and functional needs. To achieve this, the AI robot needs to learn functional rearrangement priors in order…

Deploying Vision Transformers on edge devices is challenging due to their high computational complexity, while full offloading to cloud resources presents significant latency overheads. We propose a novel collaborative inference framework,…

The Visual-Language-Action (VLA) models can follow text instructions according to visual observations of the surrounding environment. This ability to map multimodal inputs to actions is derived from the training of the VLA model on…

Foundation models in digital pathology use massive datasets to learn useful compact feature representations of complex histology images. However, there is limited transparency into what drives the correlation between dataset size and…

Foundation models (FMs) have shown prominent success in a wide range of tasks. Their applicability to specific domain-task pairings relies on the availability of, both, high-quality data and significant computational resources. These…

Scaling general-purpose manipulation to new robot embodiments remains challenging: each platform typically needs large, homogeneous demonstrations, and end-to-end pixel-to-action pipelines may degenerate under background and viewpoint…