相关论文: RoboEngine: Plug-and-Play Robot Data Augmentation …

When designing robots to assist in everyday human activities, it is crucial to enhance user requests with visual cues from their surroundings for improved intent understanding. This process is defined as a multimodal classification task.…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

The rapid progress in machine learning methods has been empowered by i) huge datasets that have been collected and annotated, ii) improved engineering (e.g. data pre-processing/normalization). The existing datasets typically include several…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

Data diversity and volume are crucial to the success of training deep learning models, while in the medical imaging field, the difficulty and cost of data collection and annotation are especially huge. Specifically in robotic surgery, data…

Building robots that can automate labor-intensive tasks has long been the core motivation behind the advancements in computer vision and the robotics community. Recent interest in leveraging 3D algorithms, particularly neural fields, has…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Deep learning approaches have become the standard solution to many problems in computer vision and robotics, but obtaining sufficient training data in high enough quality is challenging, as human labor is error prone, time consuming, and…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

Imitation learning from human demonstrations has become a dominant approach for training autonomous robot policies. However, collecting demonstration datasets is costly: it often requires access to robots and needs sustained effort in a…

Building home assistant robots has long been a pursuit for vision and robotics researchers. To achieve this task, a simulated environment with physically realistic simulation, sufficient articulated objects, and transferability to the real…

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…

Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…

Synthetic data generated by video generative models has shown promise for robot learning as a scalable pipeline, but it often suffers from inconsistent action quality due to imperfectly generated videos. Recently, vision-language models…

Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop…

The real-time segmentation of drivable areas plays a vital role in accomplishing autonomous perception in cars. Recently there have been some rapid strides in the development of image segmentation models using deep learning. However, most…

Scaling up robot learning requires large and diverse datasets, and how to efficiently reuse collected data and transfer policies to new embodiments remains an open question. Emerging research such as the Open-X Embodiment (OXE) project has…