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

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models.…

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

We show that off-the-shelf text-based Transformers, with no additional training, can perform few-shot in-context visual imitation learning, mapping visual observations to action sequences that emulate the demonstrator's behaviour. We…

Pre-training large models on vast amounts of web data has proven to be an effective approach for obtaining powerful, general models in domains such as language and vision. However, this paradigm has not yet taken hold in reinforcement…

A goal of artificial intelligence is to construct an agent that can solve a wide variety of tasks. Recent progress in text-guided image synthesis has yielded models with an impressive ability to generate complex novel images, exhibiting…

Learning from demonstrations (LfD) typically relies on large amounts of action-labeled expert trajectories, which fundamentally constrains the scale of available training data. A promising alternative is to learn directly from unlabeled…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

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)…

In this work, we propose a method for learning driver models that account for variables that cannot be observed directly. When trained on a synthetic dataset, our models are able to learn encodings for vehicle trajectories that distinguish…

Action-conditioned video prediction models (often referred to as world models) have shown strong potential for robotics applications, but existing approaches are often slow and struggle to capture physically consistent interactions over…

Learning new skills by observing humans' behaviors is an essential capability of AI. In this work, we leverage instructional videos to study humans' decision-making processes, focusing on learning a model to plan goal-directed actions in…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Deep learning models have achieved state-of-the- art performance in recognizing human activities, but often rely on utilizing background cues present in typical computer vision datasets that predominantly have a stationary camera. If these…

Training generalist policies for robotic manipulation has shown great promise, as they enable language-conditioned, multi-task behaviors across diverse scenarios. However, evaluating these policies remains difficult because real-world…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

We propose a novel approach to train a multi-modal policy from mixed demonstrations without their behavior labels. We develop a method to discover the latent factors of variation in the demonstrations. Specifically, our method is based on…