相关论文: Towards Synergistic, Generalized, and Efficient Du…

The Visual-Language-Action (VLA) models can follow text instructions according to visual observations of the surrounding environment. This ability to map multimodal inputs to actions is derived from the training of the VLA model on…

In many real-world settings, reinforcement learning systems suffer performance degradation when the environment encountered at deployment differs from that observed during training. Distributionally robust reinforcement learning (DR-RL)…

Robot manipulation critically depends on perception that preserves the action-relevant aspects of a scene. Yet most robot learning pipelines are built upon visual encoders pre-trained for static recognition or vision-language alignment,…

Emerging vehicular systems with increasing proportions of automated components present opportunities for optimal control to mitigate congestion and increase efficiency. There has been a recent interest in applying deep reinforcement…

We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a robust multi-task language-conditioned visuo-motor policy.…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

When using reinforcement learning (RL) for contact-rich robotic manipulation, vision can provide task-relevant information that accelerates learning beyond what proprioception alone can achieve. However, vision-enabled policies tend to…

We present DAWN (Diffusion is All We Need for robot control), a unified diffusion-based framework for language-conditioned robotic manipulation that bridges high-level motion intent and low-level robot action via structured pixel motion…

Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…

Limited by inference latency, existing robot manipulation policies lack sufficient real-time interaction capability with the environment. Although faster generation methods such as flow matching are gradually replacing diffusion methods,…

Diffusion- and flow-based policies deliver state-of-the-art performance on long-horizon robotic manipulation and imitation learning tasks. However, these controllers employ a fixed inference budget at every control step, regardless of task…

Acquiring dexterous robotic skills from human video demonstrations remains a significant challenge, largely due to conventional reliance on low-level trajectory replication, which often fails to generalize across varying objects, spatial…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…

Vision-language-action(VLA) models have shown great promise as generalist policies for a large range of relatively simple tasks. However, they demonstrate limited performance on more complex tasks, such as those requiring complex spatial or…

Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…

Vision-language model (VLM) based GUI agents show promise for automating complex desktop and mobile tasks, but face significant challenges in applying reinforcement learning (RL): (1) slow multi-turn interactions with GUI environments for…