相关论文: On Pre-Training for Visuo-Motor Control: Revisitin…

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…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

This paper introduces a new approach for quickly adapting a multi-view visuomotor system for robots to varying camera configurations from the baseline setup. It utilises meta-learning to fine-tune the perceptual network while keeping the…

In visuomotor policy learning, the control policy for the robotic agent is derived directly from visual inputs. The typical approach, where a policy and vision encoder are trained jointly from scratch, generalizes poorly to novel visual…

This paper shows that self-supervised visual pre-training from real-world images is effective for learning motor control tasks from pixels. We first train the visual representations by masked modeling of natural images. We then freeze the…

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

The existing internet-scale image and video datasets cover a wide range of everyday objects and tasks, bringing the potential of learning policies that generalize in diverse scenarios. Prior works have explored visual pre-training with…

Recent years have seen the emergence of pre-trained representations as a powerful abstraction for AI applications in computer vision, natural language, and speech. However, policy learning for control is still dominated by a tabula-rasa…

Offline reinforcement learning has shown great promise in leveraging large pre-collected datasets for policy learning, allowing agents to forgo often-expensive online data collection. However, offline reinforcement learning from visual…

The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…

Visual language models (VLMs) rapidly progressed with the recent success of large language models. There have been growing efforts on visual instruction tuning to extend the LLM with visual inputs, but lacks an in-depth study of the visual…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a…

In the past few years, the emergence of pre-training models has brought uni-modal fields such as computer vision (CV) and natural language processing (NLP) to a new era. Substantial works have shown they are beneficial for downstream…

The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…