相关论文: Action-Free Reasoning for Policy Generalization

Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…

Egocentric human experience data presents a vast resource for scaling up end-to-end imitation learning for robotic manipulation. However, significant domain gaps in visual appearance, sensor modalities, and kinematics between human and…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Learning identity-discriminative representations with multi-scene generality has become a critical objective in person re-identification (ReID). However, mainstream perception-driven paradigms tend to identify fitting from massive annotated…

Robot manipulation research still suffers from significant data scarcity: even the largest robot datasets are orders of magnitude smaller and less diverse than those that fueled recent breakthroughs in language and vision. We introduce…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We…

3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…

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,…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

Scaling real robot data is a key bottleneck in imitation learning, leading to the use of auxiliary data for policy training. While other aspects of robotic manipulation such as image or language understanding may be learned from…

Unsupervised reinforcement learning (RL) aims at pre-training agents that can solve a wide range of downstream tasks in complex environments. Despite recent advancements, existing approaches suffer from several limitations: they may require…

VLA models have achieved remarkable progress in embodied intelligence; however, their evaluation remains largely confined to simulations or highly constrained real-world settings. This mismatch creates a substantial reality gap, where…

In this work, we present an approach to construct a video-based robot policy capable of reliably executing diverse tasks across different robots and environments from few video demonstrations without using any action annotations. Our method…

A major challenge in research involving artificial intelligence (AI) is the development of algorithms that can find solutions to problems that can generalize to different environments and tasks. Unlike AI, humans are adept at finding…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

Recent advances in large language models have demonstrated the promise of unsupervised reinforcement learning (RL) methods for enhancing reasoning capabilities without external supervision. However, the generalizability of these label-free…

In this paper, we consider a transfer Reinforcement Learning (RL) problem in continuous state and action spaces, under unobserved contextual information. For example, the context can represent the mental view of the world that an expert…

To facilitate zero-shot generalization in taskoriented dialog, this paper proposes Language Models as Data (LAD). LAD is a paradigm for creating diverse and accurate synthetic data which conveys the necessary structural constraints and can…