相关论文: PlaTe: Visually-Grounded Planning with Transformer…

Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…

Instructional videos provide a convenient modality to learn new tasks (ex. cooking a recipe, or assembling furniture). A viewer will want to find a corresponding video that reflects both the overall task they are interested in as well as…

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…

Visualization plays a relevant role for discovering patterns in big sets of data. In fact, the most common way to help a human with a pattern interpretation is through a graphic. In 2D/3D virtual environments for procedural training the…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Generating visual instructions in a given context is essential for developing interactive world simulators. While prior works address this problem through either text-guided image manipulation or video prediction, these tasks are typically…

Learning procedural-aware video representations is a key step towards building agents that can reason about and execute complex tasks. Existing methods typically address this problem by aligning visual content with textual descriptions at…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

Procedural planning aims to predict a sequence of actions that transforms an initial visual state into a desired goal, a fundamental ability for intelligent agents operating in complex environments. Existing approaches typically rely on…

Procedure planning requires a model to predict a sequence of actions that transform a start visual observation into a goal in instructional videos. While most existing methods rely primarily on visual observations as input, they often…

In this paper, we study the problem of procedure planning in instructional videos, which aims to make a plan (i.e. a sequence of actions) given the current visual observation and the desired goal. Previous works cast this as a sequence…

We propose CLAD -- a Constrained Latent Action Diffusion model for vision-language procedure planning in instructional videos. Procedure planning is the challenging task of predicting intermediate actions given a visual observation of a…

In many cases an intelligent agent may want to learn how to mimic a single observed demonstrated trajectory. In this work we consider how to perform such procedural learning from observation, which could help to enable agents to better use…

Given the current visual observations, the traditional procedure planning task in instructional videos requires a model to generate goal-directed plans within a given action space. All previous methods for this task conduct training and…

Trajectory prediction and planning are fundamental yet disconnected components in autonomous driving. Prediction models forecast surrounding agent motion under unknown intentions, producing multimodal distributions, while planning assumes…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

We release two artificial datasets, Simulated Flying Shapes and Simulated Planar Manipulator that allow to test the learning ability of video processing systems. In particular, the dataset is meant as a tool which allows to easily assess…

Active learning methods, like uncertainty sampling, combined with probabilistic prediction techniques have achieved success in various problems like image classification and text classification. For more complex multivariate prediction…

3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…