相关论文: Learning Real-World Action-Video Dynamics with Het…

Vision Language Action (VLA) models derive their generalization capability from diverse training data, yet collecting embodied robot interaction data remains prohibitively expensive. In contrast, human demonstration videos are far more…

Extracting human motion from large-scale web videos offers a scalable solution to the data scarcity issue in character animation. However, some human parts in many video frames cannot be seen due to off-screen captures or occlusions. It…

Vision-Language-Action (VLA) models have gained popularity for learning robotic manipulation tasks that follow language instructions. State-of-the-art VLAs, such as OpenVLA and $\pi_{0}$, were trained on large-scale, manually labeled action…

World-Action Models (WAM) initialized from pre-trained video generation backbones have demonstrated remarkable potential for robot policy learning. However, existing approaches face two critical bottlenecks that hinder performance and…

World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in…

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…

Masked autoencoding has shown excellent performance on self-supervised video representation learning. Temporal redundancy has led to a high masking ratio and customized masking strategy in VideoMAE. In this paper, we aim to further improve…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

In contrast to single-skill tasks, long-horizon tasks play a crucial role in our daily life, e.g., a pouring task requires a proper concatenation of reaching, grasping and pouring subtasks. As an efficient solution for transferring human…

Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid control challenging and often unstable. We…

This article presents a method for learning well-coordinated Human-Robot Interaction (HRI) from Human-Human Interactions (HHI). We devise a hybrid approach using Hidden Markov Models (HMMs) as the latent space priors for a Variational…

World models aim to learn action-controlled future prediction and have proven essential for the development of intelligent agents. However, most existing world models rely heavily on substantial action-labeled data and costly training,…

Training generalist policies for robotic manipulation has shown great promise, as they enable language-conditioned, multi-task behaviors across diverse scenarios. However, evaluating these policies remains difficult because real-world…

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…

Meta learning is a promising solution to few-shot learning problems. However, existing meta learning methods are restricted to the scenarios where training and application tasks share the same out-put structure. To obtain a meta model…

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…

Existing gradient-based meta-learning approaches to few-shot learning assume that all tasks have the same input feature space. However, in the real world scenarios, there are many cases that the input structures of tasks can be different,…

Recent advances in diffusion transformers have empowered video generation models to generate high-quality video clips from texts or images. However, world models with the ability to predict long-horizon futures from past observations and…

Latent Action Models (LAMs) enable learning from actionless data for applications ranging from robotic control to interactive world models. However, existing LAMs typically focus on short-horizon frame transitions and capture low-level…

Understanding human actions in wild videos is an important task with a broad range of applications. In this paper we propose a novel approach named Hierarchical Attention Network (HAN), which enables to incorporate static spatial…