4 accepted papers
Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small set of simple toys and then applying that knowledge to more c…
Transformer models are permutation equivariant. To supply the order and type information of the input tokens, position and segment embeddings are usually added to the input. Recent works proposed variations of positional encodings with relative position encodings achieving better performance. Our an…
It has been shown that training multi-task models with auxiliary tasks can improve the target task quality through cross-task transfer. However, the importance of each auxiliary task to the primary task is likely not known a priori. While the importance weights of auxiliary tasks can be manually tun…
We re-evaluate the standard practice of sharing weights between input and output embeddings in state-of-the-art pre-trained language models. We show that decoupled embeddings provide increased modeling flexibility, allowing us to significantly improve the efficiency of parameter allocation in the in…