相关论文: Video Prediction Policy: A Generalist Robot Policy…
Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…
Humans learn powerful representations of objects and scenes by observing how they evolve over time. Yet, outside of specific tasks that require explicit temporal understanding, static image pretraining remains the dominant paradigm for…
Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…
In order to engage in complex social interaction, humans learn at a young age to infer what others see and cannot see from a different point-of-view, and learn to predict others' plans and behaviors. These abilities have been mostly lacking…
Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…
Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…
Video prediction is a useful function for autonomous driving, enabling intelligent vehicles to reliably anticipate how driving scenes will evolve and thereby supporting reasoning and safer planning. However, existing models are constrained…
Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…
The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…
Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…
Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training…
Scaling general-purpose manipulation to new robot embodiments remains challenging: each platform typically needs large, homogeneous demonstrations, and end-to-end pixel-to-action pipelines may degenerate under background and viewpoint…
Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…
Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…
The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…
The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…
Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…
Video diffusion models (VDMs) have advanced significantly in recent years, enabling the generation of highly realistic videos and drawing the attention of the community in their potential as world simulators. However, despite their…
Diffusion models have demonstrated remarkable capabilities in image generation tasks, including image editing and video creation, representing a good understanding of the physical world. On the other line, diffusion models have also shown…