相关论文: Towards Generalist Robot Learning from Internet Vi…

A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing…

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video…

Reinforcement learning is a powerful framework for robots to acquire skills from experience, but often requires a substantial amount of online data collection. As a result, it is difficult to collect sufficiently diverse experiences that…

Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are faced with unfamiliar tasks, such as…

Large Language Models (LLMs) have allowed recent LLM-based approaches to achieve excellent performance on long-video understanding benchmarks. We investigate how extensive world knowledge and strong reasoning skills of underlying LLMs…

Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

We propose to learn legged robot locomotion skills by watching thousands of wild animal videos from the internet, such as those featured in nature documentaries. Indeed, such videos offer a rich and diverse collection of plausible motion…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

Video segmentation -- partitioning video frames into multiple segments or objects -- plays a critical role in a broad range of practical applications, from enhancing visual effects in movie, to understanding scenes in autonomous driving, to…

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…

We are motivated by the goal of generalist robots that can complete a wide range of tasks across many environments. Critical to this is the robot's ability to acquire some metric of task success or reward, which is necessary for…

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…

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…

The proliferation of Large Language Models (LLMs) has s fueled a shift in robot learning from automation towards general embodied Artificial Intelligence (AI). Adopting foundation models together with traditional learning methods to robot…

Temporal Video Grounding (TVG), the task of locating specific video segments based on language queries, is a core challenge in long-form video understanding. While recent Large Vision-Language Models (LVLMs) have shown early promise in…

Collecting high-quality data for training large-scale robotic models typically relies on real robot platforms, which is labor-intensive and costly, whether via teleoperation or scripted demonstrations. To scale data collection, many…

Video super-resolution (VSR) is a prominent research topic in low-level computer vision, where deep learning technologies have played a significant role. The rapid progress in deep learning and its applications in VSR has led to a…

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,…

Learning from videos offers a promising path toward generalist robots by providing rich visual and temporal priors beyond what real robot datasets contain. While existing video generative models produce impressive visual predictions, they…