相关论文: VIP: Towards Universal Visual Reward and Represent…
In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…
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…
Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…
Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…
Despite exciting recent results showing vision-language systems' capacity to reason about images using natural language, their capacity for video reasoning remains under-explored. We motivate framing video reasoning as the sequential…
Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…
We investigate the visual cross-embodiment imitation setting, in which agents learn policies from videos of other agents (such as humans) demonstrating the same task, but with stark differences in their embodiments -- shape, actions,…
Based on the recent advancements in representation learning, we propose a novel pipeline for task-oriented voice-controlled robots with raw sensor inputs. Previous methods rely on a large number of labels and task-specific reward functions.…
Mobile robots are essential in applications such as autonomous delivery and hospitality services. Applying learning-based methods to address mobile robot tasks has gained popularity due to its robustness and generalizability. Traditional…
Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…
Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…
A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…
Pre-training on Internet data has proven to be a key ingredient for broad generalization in many modern ML systems. What would it take to enable such capabilities in robotic reinforcement learning (RL)? Offline RL methods, which learn from…
For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…
Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…
Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…
Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via…
Videos typically record the streaming and continuous visual data as discrete consecutive frames. Since the storage cost is expensive for videos of high fidelity, most of them are stored in a relatively low resolution and frame rate. Recent…
Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…
High-resolution (HR) videos play a crucial role in many computer vision applications. Although existing video restoration (VR) methods can significantly enhance video quality by exploiting temporal information across video frames, they are…