Related papers: Unleashing Large-Scale Video Generative Pre-traini…

Recent video and language pretraining frameworks lack the ability to generate sentences. We present Multimodal Video Generative Pretraining (MV-GPT), a new pretraining framework for learning from unlabelled videos which can be effectively…

In this paper, we design and train a Generative Image-to-text Transformer, GIT, to unify vision-language tasks such as image/video captioning and question answering. While generative models provide a consistent network architecture between…

Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…

The upsurge in pre-trained large models started by ChatGPT has swept across the entire deep learning community. Such powerful models demonstrate advanced generative ability and multimodal understanding capability, which quickly set new…

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

We introduce a pipeline that enhances a general-purpose Vision Language Model, GPT-4V(ision), to facilitate one-shot visual teaching for robotic manipulation. This system analyzes videos of humans performing tasks and outputs executable…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

With the rapid development of embodied artificial intelligence, significant progress has been made in vision-language-action (VLA) models for general robot decision-making. However, the majority of existing VLAs fail to account for the…

Generative Pre-trained Transformers (GPTs) have recently been scaled to unprecedented sizes in the history of machine learning. These models, solely trained on the language modeling objective, have been shown to exhibit outstanding few-shot…

We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors. GROOT builds policies that generalize beyond their initial training conditions for vision-based manipulation. It constructs…

Large language models, trained on extensive corpora, successfully unify diverse linguistic tasks within a single generative framework. Inspired by this, recent works like Large Vision Model (LVM) extend this paradigm to vision by organizing…

Prompt learning has achieved great success in efficiently exploiting large-scale pre-trained models in natural language processing (NLP). It reformulates the downstream tasks as the generative pre-training ones to achieve consistency, thus…

This paper proposes a GeneraLIst encoder-Decoder (GLID) pre-training method for better handling various downstream computer vision tasks. While self-supervised pre-training approaches, e.g., Masked Autoencoder, have shown success in…

This paper presents a grounded language-image pre-training (GLIP) model for learning object-level, language-aware, and semantic-rich visual representations. GLIP unifies object detection and phrase grounding for pre-training. The…

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

This paper presents RynnVLA-001, a vision-language-action(VLA) model built upon large-scale video generative pretraining from human demonstrations. We propose a novel two-stage pretraining methodology. The first stage, Ego-Centric Video…

We propose to use automatically generated instruction-following data to improve the zero-shot capabilities of a large multimodal model with additional support for generative and image editing tasks. We achieve this by curating a new…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…