相关论文: Towards Generalist Robots: A Promising Paradigm vi…

Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…

We are motivated by the problem of learning policies for robotic systems with rich sensory inputs (e.g., vision) in a manner that allows us to guarantee generalization to environments unseen during training. We provide a framework for…

Due to the difficulty of acquiring extensive real-world data, robot simulation has become crucial for parallel training and sim-to-real transfer, highlighting the importance of scalable simulated robotic tasks. Foundation models have…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

We propose a new probabilistic framework that allows mobile robots to autonomously learn deep, generative models of their environments that span multiple levels of abstraction. Unlike traditional approaches that combine engineered models…

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…

While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…

The field of deep generative modeling has grown rapidly in the last few years. With the availability of massive amounts of training data coupled with advances in scalable unsupervised learning paradigms, recent large-scale generative models…

Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…

Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…

We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

Acquiring dynamics is an essential topic in robot learning, but up-to-date methods, such as dynamics randomization, need to restart to check nominal parameters, generate simulation data, and train networks whenever they face different…

General-purpose service robots are expected to undertake a broad range of tasks at the request of users. Knowledge representation and planning systems are essential to flexible autonomous robots, but the field lacks a unified perspective on…

Robot learning is at an inflection point, driven by rapid advancements in machine learning and the growing availability of large-scale robotics data. This shift from classical, model-based methods to data-driven, learning-based paradigms is…

We address the challenge of acquiring real-world manipulation skills with a scalable framework. We hold the belief that identifying an appropriate prediction target capable of leveraging large-scale datasets is crucial for achieving…

Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…

The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…