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

Meta-learning is a general approach to equip machine learning models with the ability to handle few-shot scenarios when dealing with many tasks. Most existing meta-learning methods work based on the assumption that all tasks are of equal…

Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical…

With the exponential growth of multimedia data, leveraging multimodal sensors presents a promising approach for improving accuracy in human activity recognition. Nevertheless, accurately identifying these activities using both video data…

Autoregressive models have emerged as a powerful generative paradigm for visual generation. The current de-facto standard of next token prediction commonly operates over a single-scale sequence of dense image tokens, and is incapable of…

Masked video modeling (MVM) has emerged as a simple and scalable self-supervised pretraining paradigm, but only encodes motion information implicitly, limiting the encoding of temporal dynamics in the learned representations. As a result,…

The capability of performing long-horizon, language-guided robotic manipulation tasks critically relies on leveraging historical information and generating coherent action sequences. However, such capabilities are often overlooked by…

Robust perception and dynamics modeling are fundamental to real-world robotic policy learning. Recent methods employ video diffusion models (VDMs) to enhance robotic policies, improving their understanding and modeling of the physical…

Inferring object motion representations from observations enhances the performance of robotic manipulation tasks. This paper introduces a new paradigm for robot imitation learning that generates action sequences by reasoning about object…

We present Recurrent Video Masked-Autoencoders (RVM): a novel approach to video representation learning that leverages recurrent computation to model the temporal structure of video data. RVM couples an asymmetric masking objective with a…

Human behavior understanding in videos is a complex, still unsolved problem and requires to accurately model motion at both the local (pixel-wise dense prediction) and global (aggregation of motion cues) levels. Current approaches based on…

We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos. Existing VLAs struggle with complex manipulation tasks requiring high dexterity and generalize poorly to novel scenarios and tasks,…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Adapting pretrained video generation models into controllable world models via latent actions is a promising step towards creating generalist world models. The dominant paradigm adopts a two-stage approach that trains latent action model…

The real-world is inherently multi-modal at its core. Our tools observe and take snapshots of it, in digital form, such as videos or sounds, however much of it is lost. Similarly for actions and information passing between humans, languages…

We address the problem of generating long-horizon videos for robotic manipulation tasks. Text-to-video diffusion models have made significant progress in photorealism, language understanding, and motion generation but struggle with…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is the lack of robotic data,…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

Human Mesh Recovery (HMR) from a single RGB image is a highly ambiguous problem, as an infinite set of 3D interpretations can explain the 2D observation equally well. Nevertheless, most HMR methods overlook this issue and make a single…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

Transformer-based methods have demonstrated excellent performance on super-resolution visual tasks, surpassing conventional convolutional neural networks. However, existing work typically restricts self-attention computation to…