相关论文: Action-Free Reasoning for Policy Generalization

Vision-Language-Action (VLA) models rely on current observations, including images, language instructions, and robot states, to predict actions and complete tasks. While accurate visual perception is crucial for precise action prediction…

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often…

Designing a universal policy architecture that performs well across diverse robots and task configurations remains a key challenge. In this work, we address this by representing robot actions as sequential data and generating actions…

A key limitation of learned robot control policies is their inability to generalize outside their training data. Recent works on vision-language-action models (VLAs) have shown that the use of large, internet pre-trained vision-language…

While generalist robot policies hold significant promise for learning diverse manipulation skills through imitation, their performance is often hindered by the long-tail distribution of training demonstrations. Policies learned on such…

Our ultimate goal is to build robust policies for robots that assist people. What makes this hard is that people can behave unexpectedly at test time, potentially interacting with the robot outside its training distribution and leading to…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Motion sensor time-series are central to Human Activity Recognition (HAR), yet conventional approaches are constrained to fixed activity sets and typically require costly parameter retraining to adapt to new behaviors. While Large Language…

While the shortage of explicit action data limits Vision-Language-Action (VLA) models, human action videos offer a scalable yet unlabeled data source. A critical challenge in utilizing large-scale human video datasets lies in transforming…

Visual Robot Manipulation (VRM) aims to enable a robot to follow natural language instructions based on robot states and visual observations, and therefore requires costly multi-modal data. To compensate for the deficiency of robot data,…

Learning diverse manipulation skills for real-world robots is severely bottlenecked by the reliance on costly and hard-to-scale teleoperated demonstrations. While human videos offer a scalable alternative, effectively transferring…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity. To address this, we pioneer "pointing" as a unified, embodiment-agnostic intermediate representation,…

Consider the scenario where a human cleans a table and a robot observing the scene is instructed with the task "Remove the cloth using which I wiped the table". Instruction following with temporal reasoning requires the robot to identify…

In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…

Model-free control strategies such as reinforcement learning have shown the ability to learn control strategies without requiring an accurate model or simulator of the world. While this is appealing due to the lack of modeling requirements,…

The current state-of-the-art in many natural language processing and automated knowledge base completion tasks is held by representation learning methods which learn distributed vector representations of symbols via gradient-based…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…