相关论文: RoboCasa: Large-Scale Simulation of Everyday Tasks…

Learning Machines is developing a flexible, cross-industry, advanced analytics platform, targeted during stealth-stage at a limited number of specific vertical applications. In this paper, we aim to integrate a general machine system to…

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…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

The development of generalist robot manipulation policies has seen significant progress, driven by large-scale demonstration data across diverse environments. However, the high cost and inefficiency of collecting real-world demonstrations…

The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…

Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfiguring environments. Therefore,…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Optimizing and refining action execution through exploration and interaction is a promising way for robotic manipulation. However, practical approaches to interaction-driven robotic learning are still underexplored, particularly for…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Imitation learning in robotics faces significant challenges in generalization due to the complexity of robotic environments and the high cost of data collection. We introduce RoCoDA, a novel method that unifies the concepts of invariance,…

Vision-Language-Action (VLA) models empower robots to understand and execute tasks described by natural language instructions. However, a key challenge lies in their ability to generalize beyond the specific environments and conditions they…

Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…

Building home assistant robots has long been a pursuit for vision and robotics researchers. To achieve this task, a simulated environment with physically realistic simulation, sufficient articulated objects, and transferability to the real…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

Being able to simulate the outcomes of actions in varied environments will revolutionize the development of generalist agents at scale. However, modeling these world dynamics, especially for dexterous robotics tasks, poses significant…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…

Automating biological experimentation remains challenging due to the need for millimeter-scale precision, long and multi-step experiments, and the dynamic nature of living systems. Current liquid handlers only partially automate workflows,…