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With the advent of pre-trained language models (LMs), increasing research efforts have been focusing on infusing commonsense and domain-specific knowledge to prepare LMs for downstream tasks. These works attempt to leverage knowledge graphs, the de facto standard of symbolic knowledge representation, along with pre-trained LMs. While existing approaches leverage external knowledge, it remains an open question how to jointly incorporate knowledge graphs represented in varying contexts — from local (e.g., sentence), document-level, to global knowledge, to enable knowledge-rich and interpretable exchange across contexts. In addition, incorporating varying contexts can especially benefit long document understanding tasks that leverage pre-trained LMs, typically bounded by the input sequence length. In light of these challenges, we propose KALM, a language model that jointly leverages knowledge in local, document-level, and global contexts for long document understanding. KALM firstly encodes long documents and knowledge graphs into the three knowledge-aware context representations. KALM then processes each context with context-specific layers. These context-specific layers are followed by a ContextFusion layer that facilitates knowledge exchange to derive an overarching document representation. Extensive experiments demonstrate that KALM achieves state-of-the-art performance on three long document understanding tasks across 6 datasets/settings. Further analyses reveal that the three knowledge-aware contexts are complementary and they all contribute to model performance, while the importance and information exchange patterns of different contexts vary on different tasks and datasets.
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This content will become publicly available on June 2, 2026
Keypoint abstraction using large models for object-relative imitation learning.
Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been proven effective as a succinct representation for capturing essential object features, and for establishing a reference frame in action prediction, enabling data-efficient learning of robot skills. However, their manual design nature and reliance on additional human labels limit their scalability. In this paper, we propose KALM, a framework that leverages large pre-trained vision-language models (LMs) to automatically generate taskrelevant and cross-instance consistent keypoints. KALM distills robust and consistent keypoints across views and objects by generating proposals using LMs and verifies them against a small set of robot demonstration data. Based on the generated keypoints, we can train keypoint-conditioned policy models that predict actions in keypoint-centric frames, enabling robots to generalize effectively across varying object poses, camera views, and object instances with similar functional shapes. Our method demonstrates strong performance in the real world, adapting to different tasks and environments from only a handful of demonstrations while requiring no additional labels.
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- Award ID(s):
- 2214177
- PAR ID:
- 10629485
- Publisher / Repository:
- IEEE International Conference on Robotics and Automation
- Date Published:
- Journal Name:
- Proceedings IEEE International Conference on Robotics and Automation
- ISSN:
- 1050-4729
- Format(s):
- Medium: X
- Location:
- Atlanta, Georgia
- Sponsoring Org:
- National Science Foundation
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