相关论文: Reinforcement Learning with Action-Free Pre-Traini…

While Reinforcement Learning (RL) agents can successfully learn to handle complex tasks, effectively generalizing acquired skills to unfamiliar settings remains a challenge. One of the reasons behind this is the visual encoders used are…

Action-labeled data for robotics is scarce and expensive, limiting the generalization of learned policies. In contrast, vast amounts of action-free video data are readily available, but translating these observations into effective policies…

Learning rewards from expert videos offers an affordable and effective solution to specify the intended behaviors for reinforcement learning (RL) tasks. In this work, we propose Diffusion Reward, a novel framework that learns rewards from…

Most model-free reinforcement learning methods leverage state representations (embeddings) for generalization, but either ignore structure in the space of actions or assume the structure is provided a priori. We show how a policy can be…

In video prediction tasks, one major challenge is to capture the multi-modal nature of future contents and dynamics. In this work, we propose a simple yet effective framework that can efficiently predict plausible future states. The key…

Vision-Language-Action (VLA) models achieve preliminary generalization through pretraining on large scale robot teleoperation datasets. However, acquiring datasets that comprehensively cover diverse tasks and environments is extremely…

Unsupervised and self-supervised objectives, such as next token prediction, have enabled pre-training generalist models from large amounts of unlabeled data. In reinforcement learning (RL), however, finding a truly general and scalable…

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and…

The Vision Transformer architecture has shown to be competitive in the computer vision (CV) space where it has dethroned convolution-based networks in several benchmarks. Nevertheless, convolutional neural networks (CNN) remain the…

We study unsupervised video representation learning that seeks to learn both motion and appearance features from unlabeled video only, which can be reused for downstream tasks such as action recognition. This task, however, is extremely…

Pre-training has marked numerous state of the arts in high-level computer vision, while few attempts have ever been made to investigate how pre-training acts in image processing systems. In this paper, we tailor transformer-based…

The abundance of instructional videos and their narrations over the Internet offers an exciting avenue for understanding procedural activities. In this work, we propose to learn video representation that encodes both action steps and their…

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video…

Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that…

The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using a deep neural network as its function approximator and by learning directly from raw images. A drawback of using raw images is that…

Anticipating actions and objects before they start or appear is a difficult problem in computer vision with several real-world applications. This task is challenging partly because it requires leveraging extensive knowledge of the world…

Human actions are based on the mental perception of the environment. Even when all the aspects of an environment are not visible, humans have an internal mental model that can generalize the partially visible scenes to fully constructed and…