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

Advances in robot learning have enabled robots to generate skills for a variety of tasks. Yet, robot learning is typically sample inefficient, struggles to learn from data sources exhibiting varied behaviors, and does not naturally…

The scarcity of manipulation data has motivated the use of pretrained large models from other modalities in robotics. In this work, we build upon autoregressive video generation models to propose a Physical Autoregressive Model (PAR), where…

The growing use of virtual autonomous agents in applications like games and entertainment demands better control policies for natural-looking movements and actions. Unlike the conventional approach of hard-coding motion routines, we propose…

Wearable sensors provide abundant physiological time series, yet the principles governing their predictive utility remain unclear. We hypothesize that temporal resolution is a fundamental axis of representation learning, with different…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

A video prediction model that generalizes to diverse scenes would enable intelligent agents such as robots to perform a variety of tasks via planning with the model. However, while existing video prediction models have produced promising…

Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often…

We train models to Predict Ego-centric Video from human Actions (PEVA), given the past video and an action represented by the relative 3D body pose. By conditioning on kinematic pose trajectories, structured by the joint hierarchy of the…

For robots to operate effectively and safely alongside humans, they must be able to understand the progress of ongoing actions. This ability, known as action progress prediction, is critical for tasks ranging from timely assistance to…

Video behavior recognition demands stable and discriminative representations under complex spatiotemporal variations. However, prevailing data augmentation strategies for videos remain largely perturbation-driven, often introducing…

World models that forecast environmental changes from actions are vital for autonomous driving models with strong generalization. The prevailing driving world model mainly build on video prediction model. Although these models can produce…

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical…

Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…

Embodied action planning is a core challenge in robotics, requiring models to generate precise actions from visual observations and language instructions. While video generation world models are promising, their reliance on pixel-level…

Data augmentation is a ubiquitous technique for improving image classification when labeled data is scarce. Constraining the model predictions to be invariant to diverse data augmentations effectively injects the desired representational…

Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Zero-shot action recognition, which recognizes actions in videos without having received any training examples, is gaining wide attention considering it can save labor costs and training time. Nevertheless, the performance of zero-shot…

Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…