相关论文: Generalization Through Hand-Eye Coordination: An A…

Actions are about how we interact with the environment, including other people, objects, and ourselves. In this paper, we propose a novel multi-modal Holistic Interaction Transformer Network (HIT) that leverages the largely ignored, but…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical architectures improve temporal reasoning and bilateral imitation…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial…

In many real-world visual Imitation Learning (IL) scenarios, there is a misalignment between the agent's and the expert's perspectives, which might lead to the failure of imitation. Previous methods have generally solved this problem by…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

Estimating hand-object manipulations is essential for interpreting and imitating human actions. Previous work has made significant progress towards reconstruction of hand poses and object shapes in isolation. Yet, reconstructing hands and…

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…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Inspired by the general Vision-and-Language Navigation (VLN) task, aerial VLN has attracted widespread attention, owing to its significant practical value in applications such as logistics delivery and urban inspection. However, existing…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

In imitation learning for robotic manipulation, decomposing object manipulation tasks into sub-tasks enables the reuse of learned skills and the combination of learned behaviors to perform novel tasks, rather than simply replicating…

Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…