Uploaded July 2022 | Updated September 2026, 3 days ago
ABSTRACT: Deep learning has pushed us to develop models and representations which we understand and control to a much lesser degree than earlier methods. In this talk I suggest revisiting the pursuit of decomposed models and representations, aiming to regain a better understanding and control of our systems while still leveraging deep learning power. With respect to modeling, I will discuss an alternative to the common end-to-end approach, where a complex task is decomposed to its inherent subtasks, each addressed by a targeted model, illustrating it for the challenging use case of multi-document summarization. Notably, such decomposition becomes particularly appealing when targeted training data for the subtasks can be derived automatically from the originally available “end-to-end” training data. With respect to representations, I will advocate decomposing textual information into a systematic and comprehensive set of “minimal” question-answer pairs. This provides an appealing semi-structured natural-language-based representation, which may be viewed as a midway between traditional formal semantic representations and opaque neural representations. I will describe our recent unified QA-Sem parser, which extracts from a sentence a systematic set of QAs, covering predications by verbs, nominalizations, and informational discourse relations, readily available for downstream use.
Lead students on the described projects are Ori Ernst and Ayal Klein.
BIO: Ido Dagan is a Professor at the Department of Computer Science at Bar-Ilan University, Israel, the founder of the Natural Language Processing (NLP) Lab at Bar-Ilan, the founding Director of the nationally funded Bar-Ilan University Data Science Institute, and a Fellow of the Association for Computational Linguistics (ACL). His interests are in applied semantic processing, focusing on textual inference, natural open semantic representations, consolidation and summarization of multi-text information, and interactive text summarization and exploration. Dagan and colleagues initiated and promoted textual entailment recognition (RTE, later aka NLI) as a generic empirical task. He was the President of the ACL in 2010 and served on its Executive Committee during 2008-2011. In that capacity, he led the establishment of the journal Transactions of the Association for Computational Linguistics, which became one of two premiere journals in NLP. Dagan received his B.A. summa cum laude and his Ph.D. (1992) in Computer Science from the Technion. He was a research fellow at the IBM Haifa Scientific Center (1991) and a Member of Technical Staff at AT&T Bell Laboratories (1992-1994). During 1998-2003 he was co-founder and CTO of FocusEngine and VP of Technology of LingoMotors, and has been regularly consulting in the industry. His academic research has involved extensive industrial collaboration, including funds from IBM, Google, Thomson-Reuters, Bloomberg, Intel, and Facebook, as well as collaboration with local companies underfunded projects of the Israel Innovation Authority.
ABSTRACT: Deep learning has pushed us to develop models and representations which we understand and control to a much lesser degree than earlier methods. In this talk I suggest revisiting the pursuit of decomposed models and representations, aiming to regain a better understanding and control of our systems while still leveraging deep learning power. With respect to modeling, I will discuss an alternative to the common end-to-end approach, where a complex task is decomposed to its inherent subtasks, each addressed by a targeted model, illustrating it for the challenging use case of multi-document summarization. Notably, such decomposition becomes particularly appealing when targeted training data for the subtasks can be derived automatically from the originally available “end-to-end” training data. With respect to representations, I will advocate decomposing textual information into a systematic and comprehensive set of “minimal” question-answer pairs. This provides an appealing semi-structured natural-language-based representation, which may be viewed as a midway between traditional formal semantic representations and opaque neural representations. I will describe our recent unified QA-Sem parser, which extracts from a sentence a systematic set of QAs, covering predications by verbs, nominalizations, and informational discourse relations, readily available for downstream use.
Lead students on the described projects are Ori Ernst and Ayal Klein.
BIO: Ido Dagan is a Professor at the Department of Computer Science at Bar-Ilan University, Israel, the founder of the Natural Language Processing (NLP) Lab at Bar-Ilan, the founding Director of the nationally funded Bar-Ilan University Data Science Institute, and a Fellow of the Association for Computational Linguistics (ACL). His interests are in applied semantic processing, focusing on textual inference, natural open semantic representations, consolidation and summarization of multi-text information, and interactive text summarization and exploration. Dagan and colleagues initiated and promoted textual entailment recognition (RTE, later aka NLI) as a generic empirical task. He was the President of the ACL in 2010 and served on its Executive Committee during 2008-2011. In that capacity, he led the establishment of the journal Transactions of the Association for Computational Linguistics, which became one of two premiere journals in NLP. Dagan received his B.A. summa cum laude and his Ph.D. (1992) in Computer Science from the Technion. He was a research fellow at the IBM Haifa Scientific Center (1991) and a Member of Technical Staff at AT&T Bell Laboratories (1992-1994). During 1998-2003 he was co-founder and CTO of FocusEngine and VP of Technology of LingoMotors, and has been regularly consulting in the industry. His academic research has involved extensive industrial collaboration, including funds from IBM, Google, Thomson-Reuters, Bloomberg, Intel, and Facebook, as well as collaboration with local companies underfunded projects of the Israel Innovation Authority.










![Learning Language-Guided Visuomotor Policies for Robotic Manipulation
Abstract: In this presentation, we will focus on the problem of learning language-guided visuomotor policies for robotic manipulation. We will explore different approaches to enabling robots to interpret natural language
instructions, perceive the current environment state, and act accordingly to solve a given task. We will begin this presentation by discussing the visual gap between simulation and the real world for policy transfer. Simulation training is safer and faster, but visual and physical mismatches often cause policies to fail once transferred to the real robot. To address this, we introduce a data-driven method for optimizing domain randomization parameters, enabling more effective sim-to-real transfer while minimizing the need for manual tuning and real-world trials. We then focus on language-guided policy learning, starting with Hiveformer, a 2D model that integrates
images and natural language instructions to perform manipulation tasks. To overcome the limitations of 2D inputs, such as lack of depth and occlusions, we introduce PolarNet and 3D-LOTUS, 3D point cloud-based models, to obtain more precise policies with better performance. In the final part of the talk, we will talk about the challenge of generalization in robotic manipulation. Many current approaches perform well on the same tasks they were trained for but fail to transfer to novel tasks. To address this problem, we propose a comprehensive benchmark with four levels of increasing difficulty, covering novel object placements, rigid and articulated objects, and long-horizon tasks. We then present 3D-LOTUS++, a generalist model that integrates three components: 3D-LOTUS as a trajectory prediction module, a large language model for task planning, and a vision-language model for object grounding.
Bio: Ricardo Garcia-Pinel is a last-year (graduating in Spring2025) PhD student at Inria Paris | ENS (Willow team) working on language-guided visuomotor policies for robotic manipulation. He is supervised by Cordelia
Schmid and Shizhe Chen. Ricardo received his BS degree in Telecommunication Technologies and Services and his MS degree in
Telecommunication Engineering in 2015 and 2018, respectively, from the Technical University of Madrid (UPM), Spain. Since then, he has worked on multiple computer vision and robotics projects, such as multi-
agent reinforcement learning for quadcopters, semantic segmentation, neural motion planning, or visual sim-to-real policy transfer. Currently, he is working on language-guided visuomotor policy learning for robotic
manipulation, focusing on policy generalization. His contributions in this field include works such as Hiveformer [1], Polarnet [2], 3D-LOTUS [3], and GEMBench [3]. For more information about his projects, check his webpage: https://rjgpinel.github.io/ or CV:
https://rjgpinel.github.io/files/resume_RicardoGarciaPinel_2025-30Jan.pdf
[1] Instruction-driven history-aware policies for robotic manipulations, CoRL 2022
[2] PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation, CoLR 2023
[3] Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy,
ICRA 2025 Learning Language-Guided Visuomotor Policies for Robotic Manipulation](https://i.ytimg.com/vi/qapMZKr-lHc/mqdefault.jpg)