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

Reinforcement learning (RL) for motion planning of multi-degree-of-freedom robots still suffers from low efficiency in terms of slow training speed and poor generalizability. In this paper, we propose a novel RL-based robot motion planning…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Learning effective visual representations for robotic manipulation remains a fundamental challenge due to the complex body dynamics involved in action execution. In this paper, we study how visual representations that carry body-relevant…

This paper addresses key challenges in object-centric representation learning of video. While existing approaches struggle with complex scenes, we propose a novel weakly-supervised framework that emphasises geometric understanding and…

To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…

In recent years, domains such as natural language processing and image recognition have popularized the paradigm of using large datasets to pretrain representations that can be effectively transferred to downstream tasks. In this work we…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

In order to *generalize* to various tasks in the wild, robotic agents will need a suitable representation (i.e., vision network) that enables the robot to predict optimal actions given high dimensional vision inputs. However, learning such…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

Vision-Language-Action (VLA) models have shown strong capabilities in robot manipulation by leveraging rich representations from pre-trained Vision-Language Models (VLMs). However, their representations arguably remain suboptimal, lacking…

Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast,…

Recent works have shown that large models pretrained on common visual learning tasks can provide useful representations for a wide range of specialized perception problems, as well as a variety of robotic manipulation tasks. While prior…

Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…

Learning to produce contact-rich, dynamic behaviors from raw sensory data has been a longstanding challenge in robotics. Prominent approaches primarily focus on using visual or tactile sensing, where unfortunately one fails to capture…

Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Meanwhile, their inherent sample efficiency warrants utility for…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…