相关论文: VidMan: Exploiting Implicit Dynamics from Video Di…

Vision Language Action (VLA) models derive their generalization capability from diverse training data, yet collecting embodied robot interaction data remains prohibitively expensive. In contrast, human demonstration videos are far more…

Dual-arm cooperative manipulation holds great promise for tackling complex real-world tasks that demand seamless coordination and adaptive dynamics. Despite substantial progress in learning-based motion planning, most approaches struggle to…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key challenge remains: ensuring precise control over the generated…

Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…

The Diffusion model has a strong ability to generate wild images. However, the model can just generate inaccurate images with the guidance of text, which makes it very challenging to directly apply the text-guided generative model for…

In the era of generative AI, integrating video generation models into robotics opens new possibilities for the general-purpose robot agent. This paper introduces imitation learning with latent video planning (VILP). We propose a latent…

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.…

Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…

The acquisition of large-scale and diverse demonstration data are essential for improving robotic imitation learning generalization. However, generating such data for complex manipulations is challenging in real-world settings. We introduce…

This paper addresses a fundamental problem of visuomotor policy learning for robotic manipulation: how to enhance robustness in out-of-distribution execution errors or dynamically re-routing trajectories, where the model relies solely on…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Diffusion-based visuomotor policies effectively capture multimodal action distributions through iterative denoising, but their high inference latency limits real-time robotic control. Recent flow matching and consistency-based methods…

This paper presents RynnVLA-001, a vision-language-action(VLA) model built upon large-scale video generative pretraining from human demonstrations. We propose a novel two-stage pretraining methodology. The first stage, Ego-Centric Video…

Diffusion models have achieved great progress in image animation due to powerful generative capabilities. However, maintaining spatio-temporal consistency with detailed information from the input static image over time (e.g., style,…

Predicting future motion trajectories is a critical capability across domains such as robotics, autonomous systems, and human activity forecasting, enabling safer and more intelligent decision-making. This paper proposes a novel, efficient,…

In the deep learning era, long video generation of high-quality still remains challenging due to the spatio-temporal complexity and continuity of videos. Existing prior works have attempted to model video distribution by representing videos…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

There has been substantial progress in humanoid robots, with new skills continuously being taught, ranging from navigation to manipulation. While these abilities may seem impressive, the teaching methods often remain inefficient. To enhance…