Chain-of-Action (CoA) proposes a visuo-motor policy that generates robot trajectories autoregressively in reverse, starting from a task goal and reasoning backward to the current state. This approach addresses compounding errors and enhances spatial generalization, achieving an average success rate of 0.552 on 60 RLBench tasks and demonstrating improved performance on real-world Fetch robot manipulation.
View blogThis work introduces UncertaintyRAG, a lightweight and unsupervised retrieval model for long-context Retrieval-Augmented Generation (RAG). It leverages Signal-to-Noise Ratio (SNR)-based span uncertainty to estimate semantic similarity between text chunks, enhancing robustness to distribution shifts and achieving state-of-the-art average performance on long-context QA and summarization benchmarks while utilizing only 4% of the training data compared to baseline models.
View blogDIVERSIFY is a framework that tackles out-of-distribution detection and generalization for time series data by explicitly identifying and characterizing latent distributions without relying on predefined domain labels. It consistently outperforms baseline methods on OOD detection across seven diverse datasets, demonstrating its ability to learn robust representations for non-stationary time series.
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