相关论文: CoRMA: Contrastive RMA for Contact-Rich Meta-Adapt…

While Large Language Models (LLMs) and Vision-Language Models (VLMs) demonstrate remarkable capabilities in high-level reasoning and semantic understanding, applying them directly to contact-rich manipulation remains a challenge due to…

Successful real-world deployment of legged robots would require them to adapt in real-time to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper presents Rapid Motor Adaptation (RMA) algorithm to solve…

Most existing Time Series Foundation Models (TSFMs) use channel independent modeling and focus on capturing and generalizing temporal dependencies, while neglecting the correlations among channels or overlooking the different aspects of…

Recent advances in legged locomotion have enabled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

A vital and rapidly growing application, remote sensing offers vast yet sparsely labeled, spatially aligned multimodal data; this makes self-supervised learning algorithms invaluable. We present CROMA: a framework that combines contrastive…

Multimodal Large Language Models (MLLMs) demonstrate remarkable image-language capabilities, but their widespread use faces challenges in cost-effective training and adaptation. Existing approaches often necessitate expensive language model…

Many dynamic processes, including common scenarios in robotic control and reinforcement learning (RL), involve a set of interacting subprocesses. Though the subprocesses are not independent, their interactions are often sparse, and the…

Conventional low-rank adaptation methods build adapters without considering data context, leading to sub-optimal fine-tuning performance and severe forgetting of inherent world knowledge. In this paper, we propose context-oriented…

Developing generalizable manipulation skills is a core challenge in embodied AI. This includes generalization across diverse task configurations, encompassing variations in object shape, density, friction coefficient, and external…

Autonomous systems (AS) are systems that can adapt and change their behavior in response to unanticipated events and include systems such as aerial drones, autonomous vehicles, and ground/aquatic robots. AS require a wide array of sensors,…

Multimodal Large Language Models advance multimodal representation learning by acquiring transferable semantic embeddings, thereby substantially enhancing performance across a range of vision-language tasks, including cross-modal retrieval,…

Context-based offline meta-reinforcement learning (OMRL) methods have achieved appealing success by leveraging pre-collected offline datasets to develop task representations that guide policy learning. However, current context-based OMRL…

Continual adaptation is essential for general autonomous agents. For example, a household robot pretrained with a repertoire of skills must still adapt to unseen tasks specific to each household. Motivated by this, building upon…

Reinforcement learning has produced remarkable advances in humanoid locomotion, yet a fundamental dilemma persists for real-world deployment: policies must choose between the robustness of reactive proprioceptive control or the proactivity…

We introduce Contrastive Region Masking (CRM), a training free diagnostic that reveals how multimodal large language models (MLLMs) depend on specific visual regions at each step of chain-of-thought (CoT) reasoning. Unlike prior approaches…

Foundation models have demonstrated impressive capabilities across diverse domains, while imitation learning provides principled methods for robot skill adaptation from limited data. Combining these approaches holds significant promise for…

We propose Reverse Contrast Attention (RCA), a plug-in method that enhances object localization in vision-language transformers without retraining. RCA reweights final-layer attention by suppressing extremes and amplifying mid-level…

Multimodal Language Models (MMLMs) typically undergo post-training alignment to prevent harmful content generation. However, these alignment stages focus primarily on the assistant role, leaving the user role unaligned, and stick to a fixed…

Despite the promise of Vision-Language-Action (VLA) models as generalist robotic controllers, their robustness against perceptual noise and environmental variations in out-of-distribution (OOD) tasks remains fundamentally limited by the…