Related papers: Towards Synergistic, Generalized, and Efficient Du…

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

Diffusion policies are becoming mainstream in robotic manipulation but suffer from hard negative class imbalance due to uniform sampling and lack of sample difficulty awareness, leading to slow training convergence and frequent inference…

While Vision-Language-Action models (VLAs) have shown remarkable progress toward human-like generalist robotic policies through the versatile intelligence (i.e. broad scene understanding and language-conditioned generalization) inherited…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Diffusion policies have emerged as a powerful approach for robotic control, demonstrating superior expressiveness in modeling multimodal action distributions compared to conventional policy networks. However, their integration with online…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…

Recent advances in skill learning has propelled robot manipulation to new heights by enabling it to learn complex manipulation tasks from a practical number of demonstrations. However, these skills are often limited to the particular…

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…

In recent years roboticists have achieved remarkable progress in solving increasingly general tasks on dexterous robotic hardware by leveraging high capacity Transformer network architectures and generative diffusion models. Unfortunately,…

Recent advances in vision-language-action (VLA) models have shown promise in integrating image generation with action prediction to improve generalization and reasoning in robot manipulation. However, existing methods are limited to…

Vision-language-action (VLA) models have significantly advanced robotic manipulation by enabling robots to interpret language instructions for task execution. However, training these models often relies on large-scale user-specific data,…

The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simulators offer cost-effective alternatives, but the gap between…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

Generalization remains a core challenge in embodied AI, as robots must adapt to diverse environments. While OpenVLA represents the State-of-the-Art (SOTA) in Vision-Language-Action models by leveraging large-scale pre-training, its…

Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from their constrained replanning ability: they either operate at a…

Vision-language-action (VLA) models demonstrate strong generalization in robotic manipulation but face challenges in complex, real-world tasks. While supervised fine-tuning with demonstrations is constrained by data quality, reinforcement…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although Vision-Language-Action (VLA) models are pre-trained on large and diverse datasets, they typically rely on embodiment-specific…