相关论文: BridgeData V2: A Dataset for Robot Learning at Sca…

End-to-end imitation learning offers a promising approach for training robot policies. However, generalizing to new settings remains a significant challenge. Although large-scale robot demonstration datasets have shown potential for…

The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs,…

Sample efficiency remains a crucial challenge in applying Reinforcement Learning (RL) to real-world tasks. While recent algorithms have made significant strides in improving sample efficiency, none have achieved consistently superior…

Embodied intelligence seamlessly integrates vision, language, and action.~However, most multimodal robotic models rely on massive fine-tuning, incurring high time and hardware costs.~To address this, we introduce RoboBERT, an end-to-end…

This study evaluates two leading approaches for teaching construction robots new skills to understand their applicability for construction automation: a Vision-Language-Action (VLA) model and Reinforcement Learning (RL) methods. The goal is…

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

As more distributed energy resources become part of the demand-side infrastructure, it is important to quantify the energy flexibility they provide on a community scale, particularly to understand the impact of geographic, climatic, and…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…

Learning provides a powerful tool for vision-based navigation, but the capabilities of learning-based policies are constrained by limited training data. If we could combine data from all available sources, including multiple kinds of…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Generalist robot policies are trained on demonstrations collected across a wide variety of robots, scenes, and viewpoints. Yet it remains unclear how to best organize and scale such heterogeneous data so that it genuinely improves…

Safe learning is central to AI-enabled robots where a single failure may lead to catastrophic results. Barrier-based method is one of the dominant approaches for safe robot learning. However, this method is not scalable, hard to train, and…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive…

Operating robots in open-ended scenarios with diverse tasks is a crucial research and application direction in robotics. While recent progress in natural language processing and large multimodal models has enhanced robots' ability to…

Recent advances in hierarchical robot systems leverage a high-level planner to propose task plans and a low-level policy to generate robot actions. This design allows training the planner on action-free or even non-robot data sources (e.g.,…

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase…

Vision-language-action (VLA) models present a promising paradigm by training policies directly on real robot datasets like Open X-Embodiment. However, the high cost of real-world data collection hinders further data scaling, thereby…