6 accepted papers
Video generative models trained on expert demonstrations have been utilized as performant text-conditioned visual planners for solving robotic tasks. However, generalization to unseen tasks remains a challenge. Whereas improved generalization may be facilitated by leveraging learned prior knowledge…
Recent advances in visual generative models have enabled high-fidelity image editing guided by human instructions. However, these models often struggle with complex instructions involving combinatorial editing operations or inter-step dependencies. This difficulty stems from the limitations of two c
Video generative models demonstrate great promise in robotics by serving as visual planners or as policy supervisors. When pretrained on internet-scale data, such video models intimately understand alignment with natural language, and can thus facilitate generalization to novel downstream behavior…
Training an agent to achieve particular goals or perform desired behaviors is often accomplished through reinforcement learning, especially in the absence of expert demonstrations. However, supporting novel goals or behaviors through reinforcement learning requires the ad-hoc design of appropriate…
Decision making via sequence modeling aims to mimic the success of language models, where actions taken by an embodied agent are modeled as tokens to predict. Despite their promising performance, it remains unclear if embodied sequence modeling leads to the emergence of internal representations that…
Recent work has demonstrated the effectiveness of formulating decision making as supervised learning on offline-collected trajectories. Powerful sequence models, such as GPT or BERT, are often employed to encode the trajectories. However, the benefits of performing sequence modeling on trajectory da…