相关论文: Asking for Help: Failure Prediction in Behavioral …

This work considers two distinct settings: imitation learning and goal-conditioned reinforcement learning. In either case, effective solutions require the agent to reliably reach a specified state (a goal), or set of states (a…

Conventional behavior cloning (BC) models often struggle to replicate the subtleties of human actions. Previous studies have attempted to address this issue through the development of a new BC technique: Implicit Behavior Cloning (IBC).…

Recently in robotics, Vision-Language-Action (VLA) models have emerged as a transformative approach, enabling robots to execute complex tasks by integrating visual and linguistic inputs within an end-to-end learning framework. Despite their…

Vision-Language-Action (VLA) models have advanced robotic control by enabling end-to-end decision-making directly from multimodal inputs. However, their tightly coupled architectures expose novel security vulnerabilities. Unlike traditional…

Behavioral cloning is a simple yet effective technique for learning sequential decision-making from demonstrations. Recently, it has gained prominence as the core of foundation models for the physical world, where achieving generalization…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Behavior cloning (BC) optimizes policies by treating human demonstrations as pointwise action labels. While effective with accurate action labels, this formulation is brittle in practice: when human-provided actions are imperfect, treating…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

Behavioral cloning (BC) provides a straightforward solution to offline RL by mimicking offline trajectories via supervised learning. Recent advances (Chen et al., 2021; Janner et al., 2021; Emmons et al., 2021) have shown that by…

Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial awareness. To address these challenges, we…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign settings, such failures can be overcome by retrying or executing…

Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a critical pathology in current training paradigms where…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Long-horizon robotic manipulation tasks require executing multiple interdependent subtasks in strict sequence, where errors in detecting subtask completion can cascade into downstream failures. Existing Vision-Language-Action (VLA) models…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

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…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…