Related papers: LIDEA: Human-to-Robot Imitation Learning via Impli…
Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a principled way to learn from their own mistakes. We ask whether natural language can serve as feedback, an error-reasoning signal that…
Observing that the key for robotic action planning is to understand the target-object motion when its associated part is manipulated by the end effector, we propose to generate the 3D object-part scene flow and extract its transformations…
Vision-based robot policy learning, which maps visual inputs to actions, necessitates a holistic understanding of diverse visual tasks beyond single-task needs like classification or segmentation. Inspired by this, we introduce Theia, a…
Existing low-light image enhancement (LIE) methods have achieved noteworthy success in solving synthetic distortions, yet they often fall short in practical applications. The limitations arise from two inherent challenges in real-world LIE:…
Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase…
Learning manipulation skills from human demonstration videos presents a promising yet challenging problem, primarily due to the significant embodiment gap between human body and robot manipulators. Existing methods rely on paired datasets…
Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Action (VLA) models have been proposed as a language guided…
The development of autonomous robotic systems that can learn from human demonstrations to imitate a desired behavior - rather than being manually programmed - has huge technological potential. One major challenge in imitation learning is…
Knowledge Distillation (KD) is a popular technique to transfer knowledge from a teacher model or ensemble to a student model. Its success is generally attributed to the privileged information on similarities/consistency between the class…
Knowledge distillation from Large Language Models (LLMs) to smaller models has emerged as a critical technique for deploying efficient AI systems. However, current methods for distillation via synthetic data lack pedagogical awareness,…
A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…
Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. However, current LfD frameworks are not capable of fast adaptation to…
With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…
Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…
While leveraging abundant human videos and simulated robot data poses a scalable solution to the scarcity of real-world robot data, the generalization capability of existing vision-language-action models (VLAs) remains limited by mismatches…
In this study, we propose the use of the phase-amplitude reduction method to construct an imitation learning framework. Imitating human movement trajectories is recognized as a promising strategy for generating a range of human-like robot…
Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…
Developing effective approaches to generate enhanced results that align well with human visual preferences for high-quality well-lit images remains a challenge in low-light image enhancement (LLIE). In this paper, we propose a…
Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. A key challenge in LfD research is that users tend to provide…
Cross-embodiment video generation aims to transfer motions across different humanoid embodiments, such as human-to-robot and robot-to-robot, enabling scalable data generation for embodied intelligence. A major challenge in this setting is…