相关论文: Learning to Act without Actions

Learning transferable latent actions from large-scale object manipulation videos can significantly enhance generalization in downstream robotics tasks, as such representations are agnostic to different robot embodiments. Existing approaches…

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…

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…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

Seamlessly interacting with humans or robots is hard because these agents are non-stationary. They update their policy in response to the ego agent's behavior, and the ego agent must anticipate these changes to co-adapt. Inspired by humans,…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

We present a novel hierarchical model for human activity recognition. In contrast to approaches that successively recognize actions and activities, our approach jointly models actions and activities in a unified framework, and their labels…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for building embodied agents that ground perception and language into action. However, most existing approaches rely on direct action prediction, lacking the ability…

Various world model frameworks are being developed today based on autoregressive frameworks that rely on discrete representations of actions and observations, and these frameworks are succeeding in constructing interactive generative models…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

Using massive datasets to train large-scale models has emerged as a dominant approach for broad generalization in natural language and vision applications. In reinforcement learning, however, a key challenge is that available data of…

World Models (WMs) have emerged as a promising approach for post-training Vision-Language-Action (VLA) policies to improve robustness and generalization under environmental changes. However, most WM-based post-training methods rely on…

Offline reinforcement learning (RL) refers to the problem of learning policies entirely from a large batch of previously collected data. This problem setting offers the promise of utilizing such datasets to acquire policies without any…

Offline reinforcement learning (RL) refers to the problem of learning policies from a static dataset of environment interactions. Offline RL enables extensive use and re-use of historical datasets, while also alleviating safety concerns…

The process of learning a manipulation task depends strongly on the action space used for exploration: posed in the incorrect action space, solving a task with reinforcement learning can be drastically inefficient. Additionally, similar…

The goal of this paper is to improve the performance and reliability of vision-language-action (VLA) models through iterative online interaction. Since collecting policy rollouts in the real world is expensive, we investigate whether a…

Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training…

Offline meta-reinforcement learning seeks to learn policies that generalize across related tasks from fixed datasets. Context-based methods infer a task representation from transition histories, but learning effective task representations…

We describe a latent approach that learns to detect actions in long sequences given training videos with only whole-video class labels. Our approach makes use of two innovations to attention-modeling in weakly-supervised learning. First,…

Pretraining on noisy, internet-scale datasets has been heavily studied as a technique for training models with broad, general capabilities for text, images, and other modalities. However, for many sequential decision domains such as…