相关论文: ESCAPE: Episodic Spatial Memory and Adaptive Execu…

Online event-based perception techniques on board robots navigating in complex, unstructured, and dynamic environments can suffer unpredictable changes in the incoming event rates and their processing times, which can cause computational…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

Robotic manipulation often requires memory: occlusion and state changes can make decision-time observations perceptually aliased, making action selection non-Markovian at the observation level because the same observation may arise from…

Efficiently serving Large Language Models (LLMs) requires selecting an optimal parallel execution plan, balancing computation, memory, and communication overhead. However, determining the best strategy is challenging due to varying…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

In this technical report, we present our solution for the EgoPlan Challenge in ICML 2024. To address the real-world egocentric task planning problem, we introduce a novel planning framework which comprises three stages: long-term memory…

Spatially consistent long-horizon video generation aims to maintain temporal and spatial consistency along predefined camera trajectories. Existing methods mostly entangle memory modeling with video generation, leading to inconsistent…

We present SpatialMem, a memory-centric system for long-horizon, language-grounded retrieval and QA from egocentric video, where metric 3D serves as an interpretable indexing scaffold rather than an explicit mapping objective. Starting from…

One of the key limitations of Molecular Dynamics simulations is the computational intractability of sampling protein conformational landscapes associated with either large system size or long timescales. To overcome this bottleneck, we…

We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three…

Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…

The aim of this paper is to establish a causal link between the policies implemented by technology companies and the outcomes they yield within intricate temporal and/or spatial dependent experiments. We propose a novel…

Large Language Models (LLMs) impose massive computational demands, driving the need for scalable multi-chiplet accelerators. However, existing mapping space exploration efforts for such accelerators primarily focus on traditional…

Domain adaptation and generative modelling have collectively mitigated the expensive nature of data collection and labelling by leveraging the rich abundance of accurate, labelled data in simulation environments. In this work, we study the…

Foundation models, including language models, e.g., GPT, and vision models, e.g., CLIP, have significantly advanced numerous biomedical tasks. Despite these advancements, the high inference latency and the "overthinking" issues in model…

Current inference systems for Mixture-of-Experts (MoE) models primarily employ static parallelization strategies. However, these static approaches cannot consistently achieve optimal performance across different inference scenarios, as they…

Spatio-temporal forecasting is crucial in transportation, logistics, and supply chain management. However, current methods struggle with large, complex datasets. We propose a dynamic, multi-modal approach that integrates the strengths of…

Spatial architecture is a high-performance architecture that uses control flow graphs and data flow graphs as the computational model and producer/consumer models as the execution models. However, existing spatial architectures suffer from…

Diffusion models have revolutionized imitation learning, allowing robots to replicate complex behaviours. However, diffusion often relies on cameras and other exteroceptive sensors to observe the environment and lacks long-term memory. In…

Multi-turn interaction remains challenging for online reinforcement learning. A common solution is trajectory-level optimization, which treats each trajectory as a single training sample. However, this approach can be inefficient and yield…