相关论文: RoVi-Aug: Robot and Viewpoint Augmentation for Cro…

Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms, and especially parallel-jaw grippers due to dataset…

Autonomous vehicles (AV) require that neural networks used for perception be robust to different viewpoints if they are to be deployed across many types of vehicles without the repeated cost of data collection and labeling for each. AV…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

Vision-language-action (VLA) models present a promising paradigm by training policies directly on real robot datasets like Open X-Embodiment. However, the high cost of real-world data collection hinders further data scaling, thereby…

Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as camera calibration or the need for controlled environments…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

Oversight AI is an emerging concept in radiology where the AI forms a symbiosis with radiologists by continuously supporting radiologists in their decision-making. Recent advances in vision-language models sheds a light on the long-standing…

Training a policy that can generalize to unknown objects is a long standing challenge within the field of robotics. The performance of a policy often drops significantly in situations where an object in the scene was not seen during…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

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…

With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…

We propose XVO, a semi-supervised learning method for training generalized monocular Visual Odometry (VO) models with robust off-the-self operation across diverse datasets and settings. In contrast to standard monocular VO approaches which…

Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location, training imitation learning or reinforcement learning…

Recently, natural language has been the primary medium for human-robot interaction. However, its inherent lack of spatial precision introduces challenges for robotic task definition such as ambiguity and verbosity. Moreover, in some public…

Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…

Vision-based policies for robot manipulation have achieved significant recent success, but are still brittle to distribution shifts such as camera viewpoint variations. Robot demonstration data is scarce and often lacks appropriate…

The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for…