Few-Shot Vision-Language Action-Incremental Policy Learning

Recently, Transformer-based robotic manipulation methods utilize multi-view spatial representations and language instructions to learn robot motion trajectories by leveraging numerous robot demonstrations. However, the collection of robot data is extremely challenging, and existing methods lack the capability for continuous learning on new tasks with only a few demonstrations. In this paper, we formulate these challenges as the Few-Shot Action-Incremental Learning (FSAIL) task, and accordingly design a Task-prOmpt graPh evolutIon poliCy (TOPIC) to address these issues. Specifically, to address the data scarcity issue in robotic imitation learning, TOPIC learns Task-Specific Prompts (TSP) through the deep interaction of multi-modal information within few-shot demonstrations, thereby effectively extracting the task-specific discriminative information. On the other hand, to enhance the capability for continual learning on new tasks and mitigate the issue of catastrophic forgetting, TOPIC adopts a Continuous Evolution Strategy (CES). CES leverages the intrinsic relationships between tasks to construct a task relation graph, which effectively facilitates the adaptation of new tasks by reusing skills learned from previous tasks. TOPIC pioneers few-shot continual learning in the robotic manipulation task, and extensive experimental results demonstrate that TOPIC outperforms state-of-the-art baselines by over 26$\%$ in success rate, significantly enhancing the continual learning capabilities of existing Transformer-based policies.

Dynamic Degradation Decomposition Network for All-in-One Image Restoration

Currently, restoring clean images from a variety of degradation types using a single model is still a challenging task. Existing all-in-one image restoration approaches struggle with addressing complex and ambiguously defined degradation types. In this paper, we introduce a dynamic degradation decomposition network for all-in-one image restoration, named D$^3$Net. D$^3$Net achieves degradation-adaptive image restoration with guided prompt through cross-domain interaction and dynamic degradation decomposition. Concretely, in D$^3$Net, the proposed Cross-Domain Degradation Analyzer (CDDA) engages in deep interaction between frequency domain degradation characteristics and spatial domain image features to identify and model variations of different degradation types on the image manifold, generating degradation correction prompt and strategy prompt, which guide the following decomposition process. Furthermore, the prompt-based Dynamic Decomposition Mechanism (DDM) for progressive degradation decomposition, that encourages the network to adaptively select restoration strategies utilizing the two-level prompt generated by CDDA. Thanks to the synergistic cooperation between CDDA and DDM, D$^3$Net achieves superior flexibility and scalability in handling unknown degradation, while effectively reducing unnecessary computational overhead. Extensive experiments on multiple image restoration tasks demonstrate that D$^3$Net significantly outperforms the state-of-the-art approaches, especially improving PSNR by 5.47dB and 3.30dB on the SOTS-Outdoor and GoPro datasets, respectively.