相关论文: One-Shot Imitation under Mismatched Execution

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…

Teaching robots new skills quickly and conveniently is crucial for the broader adoption of robotic systems. In this work, we address the problem of one-shot imitation from a single human demonstration, given by an RGB-D video recording. We…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

Upsampling videos of human activity is an interesting yet challenging task with many potential applications ranging from gaming to entertainment and sports broadcasting. The main difficulty in synthesizing video frames in this setting stems…

Recognizing human activities in videos is challenging due to the spatio-temporal complexity and context-dependence of human interactions. Prior studies often rely on single input modalities, such as RGB or skeletal data, limiting their…

We propose a method for generating video-realistic animations of real humans under user control. In contrast to conventional human character rendering, we do not require the availability of a production-quality photo-realistic 3D model of…

While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline…

We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to…

Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…

Imitating tool manipulation from human videos offers an intuitive approach to teaching robots, while also providing a promising and scalable alternative to labor-intensive teleoperation data collection for visuomotor policy learning. While…

Learning robot manipulation from abundant human videos offers a scalable alternative to costly robot-specific data collection. However, domain gaps across visual, morphological, and physical aspects hinder direct imitation. To effectively…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Cross-embodiment video generation aims to transfer motions across different humanoid embodiments, such as human-to-robot and robot-to-robot, enabling scalable data generation for embodied intelligence. A major challenge in this setting is…

Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…

One of the key issues in human-robot collaboration is the development of computational models that allow robots to predict and adapt to human behavior. Much progress has been achieved in developing such models, as well as control techniques…

Enabling robust whole-body humanoid-object interaction (HOI) remains challenging due to motion data scarcity and the contact-rich nature. We present HDMI (HumanoiD iMitation for Interaction), a simple and general framework that learns…

Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…

Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…

While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex…

Learning robotic manipulation from human videos is a promising solution to the data bottleneck in robotics, but the distribution shift between humans and robots remains a critical challenge. Existing approaches often produce entangled…