3 accepted papers
The paradigm of retrieval-augmented generated (RAG) helps mitigate hallucinations of large language models (LLMs). However, RAG also introduces biases contained within the retrieved documents. These biases can be amplified in scenarios which are multilingual and culturally-sensitive, such as territo…
A robot's instantaneous sensory observations do not always reveal task-relevant state information. Under such partial observability, optimal behavior typically involves explicitly acting to gain the missing information. Today's standard robot learning techniques struggle to produce such active perce…
In this work, we use Vision-Language Models (VLMs) as a binary success detector given a robot observation and task description, formulated as a Visual Question Answering (VQA) problem. We fine-tune the open-source MiniGPT-4 VLM to detect success on robot trajectories from the Berkeley Bridge and Ber…