相关论文: KALIE: Fine-Tuning Vision-Language Models for Open…

Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…

Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effectively grounding this knowledge in robot behaviors remains…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

The rise of generalist robotic policies has created an exponential demand for large-scale training data. However, on-robot data collection is labor-intensive and often limited to specific environments. In contrast, open-world images capture…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

Variational Autoencoders (VAE) and their variants have been widely used in a variety of applications, such as dialog generation, image generation and disentangled representation learning. However, the existing VAE models have some…

Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Action (VLA) models have been proposed as a language guided…

Large Language Models (LLM) and Vision Language Models (VLM) enable robots to ground natural language prompts into control actions to achieve tasks in an open world. However, when applied to a long-horizon collaborative task, this…

Foundation models like Vision-Language Models (VLMs) excel at common sense vision and language tasks such as visual question answering. However, they cannot yet directly solve complex, long-horizon robot manipulation problems requiring…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

Adapting autonomous agents for real-world industrial, domestic, and other daily tasks is currently gaining momentum. However, in global or cross-lingual application contexts, ensuring effective interaction with the environment and executing…

As large vision-language models (LVLMs) evolve rapidly, the demand for high-quality and diverse data to align these models becomes increasingly crucial. However, the creation of such data with human supervision proves costly and…

Despite the recent advancements of vision-language-action (VLA) models on a variety of robotics tasks, they suffer from critical issues such as poor generalizability to unseen tasks, due to their reliance on behavior cloning exclusively…

Improving generalization is one key challenge in embodied AI, where obtaining large-scale datasets across diverse scenarios is costly. Traditional weak augmentations, such as cropping and flipping, are insufficient for improving a model's…

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…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

Recent advances in Vision-Language-Action (VLA) models have shown promise for robot control, but their dependence on action supervision limits scalability and generalization. To address this challenge, we introduce CARE, a novel framework…