相关论文: Pre-training Auto-regressive Robotic Models with 4…

Learning robust and scalable visual representations from massive multi-view video data remains a challenge in computer vision and autonomous driving. Existing pre-training methods either rely on expensive supervised learning with 3D…

Humans learn not only how their bodies move, but also how the surrounding world responds to their actions. In contrast, while recent Vision-Language-Action (VLA) models exhibit impressive semantic understanding, they often fail to capture…

The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…

Our understanding of the world depends highly on our capacity to produce intuitive and simplified representations which can be easily used to solve problems. We reproduce this simplification process using a neural network to build a low…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

We empirically study autoregressive pre-training from videos. To perform our study, we construct a series of autoregressive video models, called Toto. We treat videos as sequences of visual tokens and train transformer models to…

Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

Large-scale pre-training using egocentric human videos has proven effective for robot learning. However, the models pre-trained on such data can be suboptimal for robot learning due to the significant visual gap between human hands and…

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and…

The unsupervised Pretraining method has been widely used in aiding human action recognition. However, existing methods focus on reconstructing the already present frames rather than generating frames which happen in future.In this paper, We…

We study how visual representations pre-trained on diverse human video data can enable data-efficient learning of downstream robotic manipulation tasks. Concretely, we pre-train a visual representation using the Ego4D human video dataset…

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…

Despite the impressive results achieved by deep learning based 3D reconstruction, the techniques of directly learning to model 4D human captures with detailed geometry have been less studied. This work presents a novel framework that can…

General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…

This paper presents a unified approach to understanding dynamic scenes from casual videos. Large pretrained vision foundation models, such as vision-language, video depth prediction, motion tracking, and segmentation models, offer promising…

Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…

World models have made significant progress in modeling dynamic environments; however, most embodied world models are still restricted to 2D representations, lacking the comprehensive multi-view information essential for embodied spatial…

We introduce a novel self-supervised learning approach to learn representations of videos that are responsive to changes in the motion dynamics. Our representations can be learned from data without human annotation and provide a substantial…