相关论文: Manipulate-Anything: Automating Real-World Robots …

Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

This paper presents a novel approach for pretraining robotic manipulation Vision-Language-Action (VLA) models using a large corpus of unscripted real-life video recordings of human hand activities. Treating human hand as dexterous robot…

Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to…

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…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

The rapid advancement of generative AI and multi-modal foundation models has shown significant potential in advancing robotic manipulation. Vision-language-action (VLA) models, in particular, have emerged as a promising approach for…

Mobile manipulation is a fundamental capability that enables robots to interact in expansive environments such as homes and factories. Most existing approaches follow a two-stage paradigm, where the robot first navigates to a docking point…

Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-horizon tasks that require defined goal states, such as LEGO…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

Vision-Language-Action models (VLAs) hold immense promise for enabling generalist robot manipulation. However, the best way to build them remains an open question. Current approaches often add complexity, such as modifying the existing…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial…

While Vision-Language-Action (VLA) models map visual inputs and language instructions directly to robot actions, they often rely on costly hardware and struggle in novel or cluttered scenes. We introduce EverydayVLA, a 6-DOF manipulator…