相关论文: ZeroMimic: Distilling Robotic Manipulation Skills …

Human demonstration videos are a widely available data source for robot learning and an intuitive user interface for expressing desired behavior. However, directly extracting reusable robot manipulation skills from unstructured human videos…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in foundation models, particularly Vision Language Models (VLMs), have demonstrated remarkable…

Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human manipulation videos, as a direct carrier of manipulation…

Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach to acquiring these capabilities.…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

Learning robust manipulation policies typically requires large and diverse datasets, the collection of which is time-consuming, labor-intensive, and often impractical for dynamic environments. In this work, we introduce DynaMimicGen (D-MG),…

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in Vision Language Models (VLMs) have demonstrated remarkable performance in vision and language…

Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Future robots are envisioned as versatile systems capable of performing a variety of household tasks. The big question remains, how can we bridge the embodiment gap while minimizing physical robot learning, which fundamentally does not…

Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

This work introduces Robots Imitating Generated Videos (RIGVid), a system that enables robots to perform complex manipulation tasks--such as pouring, wiping, and mixing--purely by imitating AI-generated videos, without requiring any…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more broadly, due to the amount of cost and human effort involved.…