相关论文: Universal Visual Decomposer: Long-Horizon Manipula…

To tackle long-horizon tasks, recent hierarchical vision-language-action (VLAs) frameworks employ vision-language model (VLM)-based planners to decompose complex manipulation tasks into simpler sub-tasks that low-level visuomotor policies…

Decomposing a video into a layer-based representation is crucial for easy video editing for the creative industries, as it enables independent editing of specific layers. Existing video-layer decomposition models rely on implicit neural…

Good pre-trained visual representations could enable robots to learn visuomotor policy efficiently. Still, existing representations take a one-size-fits-all-tasks approach that comes with two important drawbacks: (1) Being completely…

A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable…

Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects.…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…

Reward and representation learning are two long-standing challenges for learning an expanding set of robot manipulation skills from sensory observations. Given the inherent cost and scarcity of in-domain, task-specific robot data, learning…

A robotic solution for the unmanned ground vehicles (UGVs) to execute the highly complex task of object manipulation in an autonomous mode is presented. This paper primarily focuses on developing an autonomous robotic system capable of…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for embodied intelligence, enabling robots to perform tasks based on natural language instructions and current visual input. However, existing VLA models struggle with…

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)…

Vision language decision making (VLDM) is a challenging multimodal task. The agent have to understand complex human instructions and complete compositional tasks involving environment navigation and object manipulation. However, the long…

Recent advances in imitation learning have shown great promise for developing robust robot manipulation policies from demonstrations. However, this promise is contingent on the availability of diverse, high-quality datasets, which are not…

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

Understanding fine-grained object affordances is imperative for robots to manipulate objects in unstructured environments given open-ended task instructions. However, existing methods of visual affordance predictions often rely on manually…

In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imagination to ensure efficient and accurate operation. Current…

General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…

Large language models, trained on extensive corpora, successfully unify diverse linguistic tasks within a single generative framework. Inspired by this, recent works like Large Vision Model (LVM) extend this paradigm to vision by organizing…