相关论文: VIP: Towards Universal Visual Reward and Represent…

The recent success in human action recognition with deep learning methods mostly adopt the supervised learning paradigm, which requires significant amount of manually labeled data to achieve good performance. However, label collection is an…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

This paper explores feature prediction as a stand-alone objective for unsupervised learning from video and introduces V-JEPA, a collection of vision models trained solely using a feature prediction objective, without the use of pretrained…

Current visual representation learning remains bifurcated: vision-language models (e.g., CLIP) excel at global semantic alignment but lack spatial precision, while self-supervised methods (e.g., MAE, DINO) capture intricate local structures…

Real-world robotic tasks stretch over extended horizons and encompass multiple stages. Learning long-horizon manipulation tasks, however, is a long-standing challenge, and demands decomposing the overarching task into several manageable…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

Reinforcement learning is a powerful framework for robots to acquire skills from experience, but often requires a substantial amount of online data collection. As a result, it is difficult to collect sufficiently diverse experiences that…

Video generative models are increasingly used as world models for robotics, where a model generates a future visual rollout conditioned on the current observation and task instruction, and an inverse dynamics model (IDM) converts the…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

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…

We study how visual representations pre-trained on diverse human video data can enable data-efficient learning of downstream robotic manipulation tasks. Concretely, we pre-train a visual representation using the Ego4D human video dataset…

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these…

Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…

Complex physical tasks entail a sequence of object interactions, each with its own preconditions -- which can be difficult for robotic agents to learn efficiently solely through their own experience. We introduce an approach to discover…

In robot learning, Vision Transformers (ViTs) are standard for visual perception, yet most methods discard valuable information by using only the final layer's features. We argue this provides an insufficient representation and propose the…

Egocentric human videos provide a scalable source of manipulation demonstrations; however, deploying them on robots requires active viewpoint control to maintain task-critical visibility, which human viewpoint imitation often fails to…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…