5 papers
ViReSkill: Vision-Grounded Replanning with Skill Memory for LLM-Based Planning in Lifelong Robot Learning
Tomoyuki Kagaya, Subramanian Lakshmi, Anbang Ye +6
Robots trained via Reinforcement Learning (RL) or Imitation Learning (IL) often adapt slowly to new tasks, whereas recent Large Language Models (LLMs) and Vision-Language Models (V…
Memory Transfer Planning: LLM-driven Context-Aware Code Adaptation for Robot Manipulation
Tomoyuki Kagaya, Subramanian Lakshmi, Yuxuan Lou +6
Large language models (LLMs) are increasingly explored in robot manipulation, but many existing methods struggle to adapt to new environments. Many systems require either environme…
Aligned Contrastive Loss for Long-Tailed Recognition
Jiali Ma, Jiequan Cui, Maeno Kazuki +4
In this paper, we propose an Aligned Contrastive Learning (ACL) algorithm to address the long-tailed recognition problem. Our findings indicate that while multi-view training boost…
Unbiased Regression Loss for DETRs
Edric, Ueta Daisuke, Kurokawa Yukimasa +2
In this paper, we introduce a novel unbiased regression loss for DETR-based detectors. The conventional regression loss tends to bias towards larger boxes, as they dispropo…
EnvBridge: Bridging Diverse Environments with Cross-Environment Knowledge Transfer for Embodied AI
Tomoyuki Kagaya, Yuxuan Lou, Thong Jing Yuan +8
In recent years, Large Language Models (LLMs) have demonstrated high reasoning capabilities, drawing attention for their applications as agents in various decision-making processes…