相关论文: A Taxonomy for Evaluating Generalist Robot Manipul…

Algorithmic generalization in machine learning refers to the ability to learn the underlying algorithm that generates data in a way that generalizes out-of-distribution. This is generally considered a difficult task for most machine…

Systematic Generalization refers to a learning algorithm's ability to extrapolate learned behavior to unseen situations that are distinct but semantically similar to its training data. As shown in recent work, state-of-the-art deep learning…

This document serves as a position paper that outlines the authors' vision for a potential pathway towards generalist robots. The purpose of this document is to share the excitement of the authors with the community and highlight a…

Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…

Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synthetic data through simulation. However,…

By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance. While this…

The pursuit of general-purpose robotics has yielded impressive foundation models, yet simulation-based benchmarking remains a bottleneck due to rapid performance saturation and a lack of true generalization testing. Existing benchmarks…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Current AI alignment methodologies rely on human-provided demonstrations or judgments, and the learned capabilities of AI systems would be upper-bounded by human capabilities as a result. This raises a challenging research question: How can…

Recent advancements in robotic manipulation have highlighted the potential of intermediate representations for improving policy generalization. In this work, we explore grounding masks as an effective intermediate representation, balancing…

One of the key promises of model-based reinforcement learning is the ability to generalize using an internal model of the world to make predictions in novel environments and tasks. However, the generalization ability of model-based agents…

The generalization of machine learning models has a complex dependence on the data, model and learning algorithm. We study train and test performance, as well as the generalization gap given by the mean of their difference over different…

Domain generalization is a popular machine learning technique that enables models to perform well on the unseen target domain, by learning from multiple source domains. Domain generalization is useful in cases where data is limited,…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

Robots assisting us in environments such as factories or homes must learn to make use of objects as tools to perform tasks, for instance using a tray to carry objects. We consider the problem of learning commonsense knowledge of when a tool…

The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…

Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research groups; (b) and they should produce reproducible findings. In…

Botnets in online social networks are increasingly often affecting the regular flow of discussion, attacking regular users and their posts, spamming them with irrelevant or offensive content, and even manipulating the popularity of messages…

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…