相关论文: Robots Pre-train Robots: Manipulation-Centric Robo…

Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

The development of intelligent robots requires control policies that can handle dynamic environments and evolving tasks. Pre-training reinforcement learning has emerged as an effective approach to address these demands by enabling robots to…

Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…

Maximum Manifold Capacity Representations (MMCR) is a recent multi-view self-supervised learning (MVSSL) method that matches or surpasses other leading MVSSL methods. MMCR is intriguing because it does not fit neatly into any of the…

Our understanding of the world depends highly on our capacity to produce intuitive and simplified representations which can be easily used to solve problems. We reproduce this simplification process using a neural network to build a low…

The pretraining-finetuning paradigm has facilitated numerous transformative advancements in artificial intelligence research in recent years. However, in the domain of reinforcement learning (RL) for robot locomotion, individual skills are…

We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a sequence of camera images, proprioceptive robot states, and…

Learning control policies for multi-robot systems (MRS) remains a major challenge due to long-term coordination and the difficulty of obtaining realistic training data. In this work, we address both limitations within an imitation learning…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…

Pre-training text representations has recently been shown to significantly improve the state-of-the-art in many natural language processing tasks. The central goal of pre-training is to learn text representations that are useful for…

For a robotic grasping task in which diverse unseen target objects exist in a cluttered environment, some deep learning-based methods have achieved state-of-the-art results using visual input directly. In contrast, actor-critic deep…

Effective planning in model-based reinforcement learning (MBRL) and model-predictive control (MPC) relies on the accuracy of the learned dynamics model. In many instances of MBRL and MPC, this model is assumed to be stationary and is…

Recent developments in Large Language Models pre-trained on extensive corpora have shown significant success in various natural language processing tasks with minimal fine-tuning. This success offers new promise for robotics, which has long…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Recent advances in unsupervised representation learning significantly improved the sample efficiency of training Reinforcement Learning policies in simulated environments. However, similar gains have not yet been seen for real-robot…

Self-supervised pretraining has been extensively studied in language and vision domains, where a unified model can be easily adapted to various downstream tasks by pretraining representations without explicit labels. When it comes to…

Often, robots are asked to execute primitive movements, whether as a single action or in a series of actions representing a larger, more complex task. These movements can be learned in many ways, but a common one is from demonstrations…

Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…