相关论文: Learning to Act from Actionless Videos through Den…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Simulation offers a promising approach for cheaply scaling training data for generalist policies. To scalably generate data from diverse and realistic tasks, existing algorithms either rely on large language models (LLMs) that may…

We introduce Latent Action Pretraining for general Action models (LAPA), an unsupervised method for pretraining Vision-Language-Action (VLA) models without ground-truth robot action labels. Existing Vision-Language-Action models require…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

A general-purpose intelligent robot must be able to learn autonomously and be able to accomplish multiple tasks in order to be deployed in the real world. However, standard reinforcement learning approaches learn separate task-specific…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…

Action-labeled data for robotics is scarce and expensive, limiting the generalization of learned policies. In contrast, vast amounts of action-free video data are readily available, but translating these observations into effective policies…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

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…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…

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…

Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Multi-goal policy learning for robotic manipulation is challenging. Prior successes have used state-based representations of the objects or provided demonstration data to facilitate learning. In this paper, by hand-coding a high-level…