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

Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are faced with unfamiliar tasks, such as…

Recent advances in Vision-Language-Action (VLA) models have shown promise for robot control, but their dependence on action supervision limits scalability and generalization. To address this challenge, we introduce CARE, a novel framework…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Control of off-road vehicles is challenging due to the complex dynamic interactions with the terrain. Accurate modeling of these interactions is important to optimize driving performance, but the relevant physical phenomena are too complex…

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…

We consider real-world reinforcement learning (RL) of robotic manipulation tasks that involve both visuomotor skills and contact-rich skills. We aim to train a policy that maps multimodal sensory observations (vision and force) to a…

Vision-Language models (VLMs) that use contrastive language-image pre-training have shown promising zero-shot classification performance. However, their performance on imbalanced dataset is relatively poor, where the distribution of classes…

The learn-from-observation (LfO) paradigm is a human-inspired mode for a robot to learn to perform a task simply by watching it being performed. LfO can facilitate robot integration on factory floors by minimizing disruption and reducing…

Prompt tuning, a recently emerging paradigm, enables the powerful vision-language pre-training models to adapt to downstream tasks in a parameter -- and data -- efficient way, by learning the ``soft prompts'' to condition frozen…

Recent works have shown that visual pretraining on egocentric datasets using masked autoencoders (MAE) can improve generalization for downstream robotics tasks. However, these approaches pretrain only on 2D images, while many robotics…

In this paper, we tackle the new Cross-Domain Few-Shot Learning benchmark proposed by the CVPR 2020 Challenge. To this end, we build upon state-of-the-art methods in domain adaptation and few-shot learning to create a system that can be…

Reinforcement Learning with Verifiable Rewards (RLVR) has substantially advanced the video understanding capabilities of Multimodal Large Language Models (MLLMs). However, the rapid progress of MLLMs is outpacing the complexity of existing…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

Accurate process supervision remains a critical challenge for long-horizon robotic manipulation. A primary bottleneck is that current video MLLMs, trained primarily under a Supervised Fine-Tuning (SFT) paradigm, function as passive…

We present a conceptual framework for training Vision-Language Models (VLMs) to perform Visual Perspective Taking (VPT), a core capability for embodied cognition essential for Human-Robot Interaction (HRI). As a first step toward this goal,…

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…

Current video generation models produce physically inconsistent motion that violates real-world dynamics. We propose TrajVLM-Gen, a two-stage framework for physics-aware image-to-video generation. First, we employ a Vision Language Model to…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…