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

Humanoid robots, with their human-like form, are uniquely suited for interacting in environments built for people. However, enabling humanoids to reason, plan, and act in complex open-world settings remains a challenge. World models, models…

Masked Image Generation Models (MIGMs) have achieved great success, yet their efficiency is hampered by the multiple steps of bi-directional attention. In fact, there exists notable redundancy in their computation: when sampling discrete…

Vision-Language-Action (VLA) models have advanced rapidly with stronger backbones, broader pre-training, and larger demonstration datasets, yet their action heads remain largely homogeneous: most directly predict action commands in a fixed…

Due to the statistical complexity of video, the high degree of inherent stochasticity, and the sheer amount of data, generating natural video remains a challenging task. State-of-the-art video generation models often attempt to address…

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…

3D human motion generation has seen substantial advancement in recent years. While state-of-the-art approaches have improved performance significantly, they still struggle with complex and detailed motions unseen in training data, largely…

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…

This paper presents GAMMA, a general motion prediction model that enables large-scale real-time simulation and planning for autonomous driving. GAMMA models heterogeneous, interactive traffic agents. They operate under diverse road…

Training reinforcement learning (RL) policies for legged locomotion often requires extensive environment interactions, which are costly and time-consuming. We propose Symmetry-Guided Memory Augmentation (SGMA), a framework that improves…

This work highlights that video world modeling, alongside vision-language pre-training, establishes a fresh and independent foundation for robot learning. Intuitively, video world models provide the ability to imagine the near future by…

Vision-Language-Action (VLA) models have recently enabled robotic manipulation by grounding visual and linguistic cues into actions. However, most VLAs assume the Markov property, relying only on the current observation and thus suffering…

Trajectory prediction is crucial to advance autonomous driving, improving safety, and efficiency. Although end-to-end models based on deep learning have great potential, they often do not consider vehicle dynamic limitations, leading to…

Masked Autoencoders (MAE) achieve self-supervised learning of image representations by randomly removing a portion of visual tokens and reconstructing the original image as a pretext task, thereby significantly enhancing pretraining…

Pre-training on massive video datasets has become essential to achieve high action recognition performance on smaller downstream datasets. However, most large-scale video datasets contain images of people and hence are accompanied with…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

With the recent advances in machine learning, creating agents that behave realistically in simulated air combat has become a growing field of interest. This survey explores the application of machine learning techniques for modeling air…

There are many situations in which it would be beneficial for a robot to have predictive abilities similar to those of rational humans. Some of these situations include collaborative robots, robots in adversarial situations, and for dynamic…

Video generation models offer a promising imagination mechanism for robot manipulation by predicting long-horizon future observations, but effectively exploiting these imagined futures for action execution remains challenging. Existing…

Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…

With advances in data-driven machine learning research, a wide variety of prediction models have been proposed to capture spatio-temporal features for the analysis of video streams. Recognising actions and detecting action transitions…