相关论文: Why Latent Actions Fail, and How to Prevent It

This paper tackles spatial perception and manipulation challenges in Vision-Language-Action (VLA) models. To address depth ambiguity from monocular input, we leverage a pre-trained multi-view diffusion model to synthesize latent novel views…

Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from…

Due to lack of fully publicly available text-to-video models, current video editing methods tend to build on pre-trained text-to-image generation models, however, they still face grand challenges in dealing with the local editing of video…

In this paper, we describe a novel approach to imitation learning that infers latent policies directly from state observations. We introduce a method that characterizes the causal effects of latent actions on observations while…

We consider the problem of learning to map from natural language instructions to state transitions (actions) in a data-efficient manner. Our method takes inspiration from the idea that it should be easier to ground language to concepts that…

In this paper we consider self-supervised representation learning to improve sample efficiency in reinforcement learning (RL). We propose a forward prediction objective for simultaneously learning embeddings of states and action sequences.…

A common problem for agents operating in real-world environments is that the response of an environment to their actions may be non-deterministic and observed through noise. This renders environmental state and progress towards completing a…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

Reinforcement learning (RL) can enable task-oriented dialogue systems to steer the conversation towards successful task completion. In an end-to-end setting, a response can be constructed in a word-level sequential decision making process…

We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the latent space of a learned world model and transfers these skills…

Rather than simply recognizing the action of a person individually, collective activity recognition aims to find out what a group of people is acting in a collective scene. Previ- ous state-of-the-art methods using hand-crafted potentials…

Self-supervised video representation learning aimed at maximizing similarity between different temporal segments of one video, in order to enforce feature persistence over time. This leads to loss of pertinent information related to…

We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observations to a latent representation of an expert policy. The expert…

To solve control problems via model-based reasoning or planning, an agent needs to know how its actions affect the state of the world. The actions an agent has at its disposal often change the state of the environment in systematic ways.…

In this paper, we introduce the concept of learning latent super-events from activity videos, and present how it benefits activity detection in continuous videos. We define a super-event as a set of multiple events occurring together in…

Learning to control an agent from data collected offline in a rich pixel-based visual observation space is vital for real-world applications of reinforcement learning (RL). A major challenge in this setting is the presence of input…

Scaling action-controllable world models is limited by the scarcity of action labels. While latent action learning promises to extract control interfaces from unlabeled video, learned latents often fail to transfer across contexts: they…

This paper aims at recognizing partially observed human actions in videos. Action videos acquired in uncontrolled environments often contain corrupt frames, which make actions partially observed. Furthermore, these frames can last for…

The neural activity in the visual processing is influenced by both external stimuli and internal brain states. Ideally, a neural predictive model should account for both of them. Currently, there are no dynamic encoding models that…

The goal of offline reinforcement learning is to learn a policy from a fixed dataset, without further interactions with the environment. This setting will be an increasingly more important paradigm for real-world applications of…