相关论文: Factored World Models for Zero-Shot Generalization…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Zero-shot learning methods typically assume that the new, unseen classes encountered during deployment come from the same distribution as the the classes in the training set. However, real-world scenarios often involve class distribution…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

Deep reinforcement learning has achieved great strides in solving challenging motion control tasks. Recently, there has been significant work on methods for exploiting the data gathered during training, but there has been less work on how…

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…

World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted world as holistic images, video tokens, or global latents.…

Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivated by examples of improved transfer from…

The rapid progress in embodied artificial intelligence has highlighted the necessity for more advanced and integrated models that can perceive, interpret, and predict environmental dynamics. In this context, World Models (WMs) have been…

Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…

Generative modeling has been the dominant approach for large-scale pretraining and zero-shot generalization. In this work, we challenge this convention by showing that discriminative approaches perform substantially better than generative…

Many real-world decision-making problems are combinatorial in nature, where states (e.g., surrounding traffic of a self-driving car) can be seen as a combination of basic elements (e.g., pedestrians, trees, and other cars). Due to…

Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to…

In many reinforcement learning tasks, the agent has to learn to interact with many objects of different types and generalize to unseen combinations and numbers of objects. Often a task is a composition of previously learned tasks (e.g.…

Generating simulations to train intelligent agents in game-playing and robotics from natural language input, from user input or task documentation, remains an open-ended challenge. Existing approaches focus on parts of this challenge, such…

In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…