相关论文: Robot Learning with Super-Linear Scaling

Our world is being increasingly pervaded by intelligent robots with varying degrees of autonomy. To seamlessly integrate themselves in our society, these machines should possess the ability to navigate the complexities of our daily routines…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Developing autonomous physical human-robot interaction (pHRI) systems is limited by the scarcity of large-scale training data to learn robust robot behaviors for real-world applications. In this paper, we introduce a zero-shot…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning (RL) methods have reduced the number of required…

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

Fetching, which includes approaching, grasping, and retrieving, is a critical challenge for robot manipulation tasks. Existing methods primarily focus on table-top scenarios, which do not adequately capture the complexities of environments…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning…

The quest to build a generalist robotic system is impeded by the scarcity of diverse and high-quality data. While real-world data collection effort exist, requirements for robot hardware, physical environment setups, and frequent resets…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Reinforcement learning is an emerging approach to control dynamical systems for which classical approaches are difficult to apply. However, trained agents may not generalize against the variations of system parameters. This paper presents…

This paper presents CONTHER, a novel reinforcement learning algorithm designed to efficiently and rapidly train robotic agents for goal-oriented manipulation tasks and obstacle avoidance. The algorithm uses a modified replay buffer inspired…

Reinforcement learning solely from an agent's self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Scaling up robotic imitation learning for real-world applications requires efficient and scalable demonstration collection methods. While teleoperation is effective, it depends on costly and inflexible robot platforms. In-the-wild…

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…

Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source…