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

Deep reinforcement learning is poised to revolutionise the field of AI and represents a step towards building autonomous systems with a higher level understanding of the visual world. Currently, deep learning is enabling reinforcement…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

To build general robotic agents that can operate in many environments, it is often imperative for the robot to collect experience in the real world. However, this is often not feasible due to safety, time, and hardware restrictions. We thus…

Video understanding represents the most challenging frontier in computer vision, requiring models to reason about complex spatiotemporal relationships, long-term dependencies, and multimodal evidence. The recent emergence of Video-Large…

In recent years, deep learning has made great progress in many fields such as image recognition, natural language processing, speech recognition and video super-resolution. In this survey, we comprehensively investigate 33 state-of-the-art…

In light of recent advances in multimodal Large Language Models (LLMs), there is increasing attention to scaling them from image-text data to more informative real-world videos. Compared to static images, video poses unique challenges for…

Deep-Learning-based video recognition has shown promising improvements along with the development of large-scale datasets and spatiotemporal network architectures. In image recognition, learning spatially invariant features is a key factor…

The Large Vision-Language Model (LVLM) has enhanced the performance of various downstream tasks in visual-language understanding. Most existing approaches encode images and videos into separate feature spaces, which are then fed as inputs…

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…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

This study explores the utility of various internet data sources to select among a set of template robot behaviors to perform skills. Learning contact-rich skills involving tool use from internet data sources has typically been challenging…

Image-Language Foundation Models (ILFMs) have demonstrated remarkable success in vision-language understanding, providing transferable multimodal representations that generalize across diverse downstream image-based tasks. The advancement…

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Online reinforcement learning (RL) with sparse rewards poses a challenge partly because of the lack of feedback on states leading to the goal. Furthermore, expert offline data with reward signal is rarely available to provide this feedback…

This work explores whether a deep generative model can learn complex knowledge solely from visual input, in contrast to the prevalent focus on text-based models like large language models (LLMs). We develop VideoWorld, an auto-regressive…