相关论文: R+X: Retrieval and Execution from Everyday Human V…

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 actions from human demonstration video is promising for intelligent robotic systems. Extracting the exact section and re-observing the extracted video section in detail is important for imitating complex skills because human…

We present DexMan, an automated framework that converts human visual demonstrations into bimanual dexterous manipulation skills for humanoid robots in simulation. Operating directly on third-person videos of humans manipulating rigid…

To realize human-robot collaboration, robots need to execute actions for new tasks according to human instructions given finite prior knowledge. Human experts can share their knowledge of how to perform a task with a robot through…

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement…

We introduce Latent Action Pretraining for general Action models (LAPA), an unsupervised method for pretraining Vision-Language-Action (VLA) models without ground-truth robot action labels. Existing Vision-Language-Action models require…

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…

Video captioning is the task of automatically generating a textual description of the actions in a video. Although previous work (e.g. sequence-to-sequence model) has shown promising results in abstracting a coarse description of a short…

Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…

Recent advancements in video-language understanding have been established on the foundation of image-text models, resulting in promising outcomes due to the shared knowledge between images and videos. However, video-language understanding…

Teaching robots desired skills in real-world environments remains challenging, especially for non-experts. A key bottleneck is that collecting robotic data often requires expertise or specialized hardware, limiting accessibility and…

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…

Vision-language-action (VLA) models can learn to perform diverse manipulation skills "out of the box," but achieving the precision and speed that real-world tasks demand requires further fine-tuning -- for example, via reinforcement…

Robots that learn manipulation skills from everyday human videos could acquire broad capabilities without tedious robot data collection. We propose a video-to-video translation framework that converts ordinary human-object interaction…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

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…

Learning actions from human demonstration is an emerging trend for designing intelligent robotic systems, which can be referred as video to command. The performance of such approach highly relies on the quality of video captioning. However,…

While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…