相关论文: Action-Free Reasoning for Policy Generalization

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

Robot learning holds the promise of learning policies that generalize broadly. However, such generalization requires sufficiently diverse datasets of the task of interest, which can be prohibitively expensive to collect. In other fields,…

Imitation learning in robotics faces significant challenges in generalization due to the complexity of robotic environments and the high cost of data collection. We introduce RoCoDA, a novel method that unifies the concepts of invariance,…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Learning agile humanoid behaviors from human motion offers a powerful route to natural, coordinated control, but existing approaches face a persistent trade-off: reference-tracking policies are often brittle outside the demonstration…

The ability to transfer a policy from one environment to another is a promising avenue for efficient robot learning in realistic settings where task supervision is not available. This can allow us to take advantage of environments well…

Imitation learning is a promising paradigm for training robot agents; however, standard approaches typically require substantial data acquisition -- via numerous demonstrations or random exploration -- to ensure reliable performance.…

Demonstration is an appealing way for humans to provide assistance to reinforcement-learning agents. Most approaches in this area view demonstrations primarily as sources of behavioral bias. But in sparse-reward tasks, humans seem to treat…

Despite recent progress in general purpose robotics, robot policies still lag far behind basic human capabilities in the real world. Humans interact constantly with the physical world, yet this rich data resource remains largely untapped in…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…

A hallmark of human intelligence is the ability to infer abstract rules from limited experience and apply these rules to unfamiliar situations. This capacity is widely studied in the visual domain using the Raven's Progressive Matrices.…

Robot foundation models are beginning to deliver on the promise of generalist robotic agents, yet progress remains constrained by the scarcity of large-scale real-world manipulation datasets. Simulation and synthetic data generation offer a…

Humans effortlessly "program" one another by communicating goals and desires in natural language. In contrast, humans program robotic behaviours by indicating desired object locations and poses to be achieved, by providing RGB images of…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

We present ReAct!, an interactive tool for high-level reasoning for cognitive robotic applications. ReAct! enables robotic researchers to describe robots' actions and change in dynamic domains, without having to know about the syntactic and…

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

Evaluating whether human action is standard or not and providing reasonable feedback to improve action standardization is very crucial but challenging in real-world scenarios. However, current video understanding methods are mainly…

Deep reinforcement learning (DRL) breaks through the bottlenecks of traditional reinforcement learning (RL) with the help of the perception capability of deep learning and has been widely applied in real-world problems.While model-free RL,…