相关论文: Open X-Embodiment: Robotic Learning Datasets and R…

Existing navigation methods are primarily designed for specific robot embodiments, limiting their generalizability across diverse robot platforms. In this paper, we introduce X-Nav, a novel framework for end-to-end cross-embodiment…

General-purpose robotic systems must master a large repertoire of diverse skills to be useful in a range of daily tasks. While reinforcement learning provides a powerful framework for acquiring individual behaviors, the time needed to…

Increasingly large imitation learning datasets are being collected with the goal of training foundation models for robotics. However, despite the fact that data selection has been of utmost importance in vision and natural language…

Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act in varied real-world environments. However, they still fall…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist robot policies. However, while these policies achieve strong mean performance across a variety of tasks, they often underperform on…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

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…

Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

In computer vision, pre-training models based on largescale supervised learning have been proven effective over the past few years. However, existing works mostly focus on learning from individual task with single data source (e.g.,…

Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…

Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous manipulation, leveraging their ability to model complex action…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

The potential of offline reinforcement learning (RL) is that high-capacity models trained on large, heterogeneous datasets can lead to agents that generalize broadly, analogously to similar advances in vision and NLP. However, recent works…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

General-purpose navigation in challenging environments remains a significant problem in robotics, with current state-of-the-art approaches facing myriad limitations. Classical approaches struggle with cluttered settings and require…

Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…

In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…

Recent advances in language modeling and vision stem from training large models on diverse, multi-task data. This paradigm has had limited impact in value-based reinforcement learning (RL), where improvements are often driven by small…