相关论文: ALAS: Adaptive Long-Horizon Action Synthesis via A…

Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) are complex multi-step tasks that require continuous planning, sequential decision-making, and extended execution across domains to achieve the final goal. However, existing methods…

The integration of large language models (LLMs) with external tools has significantly expanded the capabilities of AI agents. However, as the diversity of both LLMs and tools increases, selecting the optimal model-tool combination becomes a…

Latent Action Models (LAMs) enable the learning of world models from unlabeled video by inferring abstract actions between consecutive frames. However, LAMs face a fundamental trade-off between action abstraction and generation fidelity.…

Despite significant progress on multi-agent reinforcement learning (MARL) in recent years, coordination in complex domains remains a challenge. Work in MARL often focuses on solving tasks where agents interact with all other agents and…

Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing annotation tools, however, are often…

Large language models (LLMs) often have a fixed knowledge cutoff, limiting their accuracy on emerging information. We present ALAS (Autonomous Learning Agent System), a modular pipeline that continuously updates an LLM's knowledge with…

The combination of LLM agents with external tools enables models to solve complex tasks beyond their knowledge base. Human-designed tools are inflexible and restricted to solutions within the scope of pre-existing tools created by experts.…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

Latent Action Models (LAMs) enable learning from actionless data for applications ranging from robotic control to interactive world models. However, existing LAMs typically focus on short-horizon frame transitions and capture low-level…

Continual Learning (CL) methods have traditionally focused on mitigating catastrophic forgetting through gradient-based retraining, an approach ill-suited for deployed agents that must adapt in real time. We introduce our Adaptive Teaching…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

While vision-and-language models significantly advance in many fields, the challenge of continual learning is unsolved. Parameter-efficient modules like adapters and prompts present a promising way to alleviate catastrophic forgetting.…

Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unified frameworks for complex task planning. However, mastering…

The Active Subspace (AS) method is a widely used technique for identifying the most influential directions in high-dimensional input spaces that affect the output of a computational model. The standard AS algorithm requires a sufficient…

Open-ended AI agents need to be able to learn efficiently goals of increasing complexity, abstraction and heterogeneity over their lifetime. Beyond sampling efficiently their own goals, autotelic agents specifically need to be able to keep…

Large language models (LLMs) excel at rapid generation of text and multimodal content, yet they falter on transaction-style planning that demands ACID-like guarantees and real-time disruption recovery. We present Adaptive LLM Agent System…

Current invasive assistive technologies are designed to infer high-dimensional motor control signals from severely paralyzed patients. However, they face significant challenges, including public acceptance, limited longevity, and barriers…

State-of-the-art approaches for autonomous driving integrate multiple sub-tasks of the overall driving task into a single pipeline that can be trained in an end-to-end fashion by passing latent representations between the different modules.…

Auxiliary tasks facilitate learning in situations where data is scarce or the principal task of interest is extremely complex. This idea is primarily inspired by the improved generalization capability induced by solving multiple tasks…

We propose a new approach to Human Activity Evaluation (HAE) in long videos using graph-based multi-task modeling. Previous works in activity evaluation either directly compute a metric using a detected skeleton or use the scene information…