相关论文: Gibson Env: Real-World Perception for Embodied Age…

This paper makes the case that a powerful new discipline, which we term perception engineering, is steadily emerging. It follows from a progression of ideas that involve creating illusions, from historical paintings and film, to video games…

We present a conceptual framework for training Vision-Language Models (VLMs) to perform Visual Perspective Taking (VPT), a core capability for embodied cognition essential for Human-Robot Interaction (HRI). As a first step toward this goal,…

Learning meaningful and compact representations with disentangled semantic aspects is considered to be of key importance in representation learning. Since real-world data is notoriously costly to collect, many recent state-of-the-art…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Embodied agents struggle to generalize to new environments, even when those environments share similar underlying structures to their training settings. Most current approaches to generating these training environments follow an open-loop…

We train embodied agents to play Visual Hide and Seek where a prey must navigate in a simulated environment in order to avoid capture from a predator. We place a variety of obstacles in the environment for the prey to hide behind, and we…

Passive visual systems typically fail to recognize objects in the amodal setting where they are heavily occluded. In contrast, humans and other embodied agents have the ability to move in the environment, and actively control the viewing…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Recent works have been exploring the scaling laws in the field of Embodied AI. Given the prohibitive costs of collecting real-world data, we believe the Simulation-to-Real (Sim2Real) paradigm is a crucial step for scaling the learning of…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the…

Autonomous agents, particularly in the field of robotics, rely on sensory information to perceive and navigate their environment. However, these sensory inputs are often imperfect, leading to distortions in the agent's internal…

Spatial reasoning in partially observable environments has often been approached through passive predictive models, yet theories of embodied cognition suggest that genuinely useful representations arise only when perception is tightly…

There is a sensory gulf between the Earth that humans inhabit and the digital realms in which modern AI agents are created. To develop AI agents that can sense, think, and act as flexibly as humans in real-world settings, it is imperative…

Digital human generation has been studied for decades and supports a wide range of real-world applications. However, most existing systems are passively animated, relying on privileged state or scripted control, which limits scalability to…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Given the versatility of generative adversarial networks (GANs), we seek to understand the benefits gained from using an existing GAN to enhance simulated images and reduce the sim-to-real gap. We conduct an analysis in the context of…

Deep reinforcement learning has proven to be successful for learning tasks in simulated environments, but applying same techniques for robots in real-world domain is more challenging, as they require hours of training. To address this,…

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…

Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…