相关论文: Video2Policy: Scaling up Manipulation Tasks in Sim…

Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to…

We present Im2Flow2Act, a scalable learning framework that enables robots to acquire real-world manipulation skills without the need of real-world robot training data. The key idea behind Im2Flow2Act is to use object flow as the…

Reinforcement Learning (RL) has made significant strides in complex tasks but struggles in multi-task settings with different embodiments. World model methods offer scalability by learning a simulation of the environment but often rely on…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

Video summarization aims to create short, accurate, and cohesive summaries of longer videos. Despite the existence of various video summarization datasets, a notable limitation is their limited amount of source videos, which hampers the…

Generalist robot learning remains constrained by data: large-scale, diverse, and high-quality interaction data are expensive to collect in the real world. While simulation has become a promising way for scaling up data collection, the…

Dexterous manipulation remains a challenging robotics problem, largely due to the difficulty of collecting extensive human demonstrations for learning. In this paper, we introduce \textsc{Gen2Real}, which replaces costly human demos with…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models.…

The generalization ability of visuomotor policy is crucial, as a good policy should be deployable across diverse scenarios. Some methods can collect large amounts of trajectory augmentation data to train more generalizable imitation…

Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. However, acquiring large-scale,…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…

The rise of generalist robotic policies has created an exponential demand for large-scale training data. However, on-robot data collection is labor-intensive and often limited to specific environments. In contrast, open-world images capture…

Simulation-to-reality transfer has emerged as a popular and highly successful method to train robotic control policies for a wide variety of tasks. However, it is often challenging to determine when policies trained in simulation are ready…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

A significant challenge for robot learning research is our ability to accurately measure and compare the performance of robot policies. Benchmarking in robotics is historically challenging due to the stochasticity, reproducibility, and…

The scalability of embodied intelligence is fundamentally constrained by the scarcity of real-world interaction data. While simulation platforms provide a promising alternative, existing approaches often suffer from a substantial visual and…

Large Language Models (LLMs) have been widely used in various tasks, motivating us to develop an LLM-based assistant for videos. Instead of training from scratch, we propose a module to transform arbitrary well-trained image-based LLMs into…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…