相关论文: VIOLA: Imitation Learning for Vision-Based Manipul…

Vision-Language-Action (VLA) models offer a pivotal approach to learning robotic manipulation at scale by repurposing large pre-trained Vision-Language-Models (VLM) to output robotic actions. However, adapting VLMs for robotic domains comes…

Vision-language-action models (VLAs) have become an increasingly popular approach for addressing robot manipulation problems in recent years. However, such models need to output actions at a rate suitable for robot control, which limits the…

Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed rollouts are often discarded. We introduce RePO-VLA,…

Vision-Language-Action (VLA) models have recently become highly prominent in the field of robotics. Leveraging vision-language foundation models trained on large-scale internet data, the VLA model can generate robotic actions directly from…

Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…

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…

Behavioral cloning has proven to be effective for learning sequential decision-making policies from expert demonstrations. However, behavioral cloning often suffers from the causal confusion problem where a policy relies on the noticeable…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

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…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in Vision Language Models (VLMs) have demonstrated remarkable performance in vision and language…

We propose an adaptation to the training of Vision Transformers (ViTs) that allows for an explicit modeling of objects during the attention computation. This is achieved by adding a new branch to selected attention layers that computes an…

One of the central challenges preventing robots from acquiring complex manipulation skills is the prohibitive cost of collecting large-scale robot demonstrations. In contrast, humans are able to learn efficiently by watching others interact…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

Neuronal network models and corresponding computer simulations are invaluable tools to aid the interpretation of the relationship between neuron properties, connectivity and measured activity in cortical tissue. Spatiotemporal patterns of…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for robotic manipulation, in which reliable action prediction critically depends on accurately interpreting and integrating visual observations conditioned on…