相关论文: Solving New Tasks by Adapting Internet Video Knowl…

Large text-to-video models trained on internet-scale data have demonstrated exceptional capabilities in generating high-fidelity videos from arbitrary textual descriptions. However, adapting these models to tasks with limited…

How can robot manipulation policies generalize to novel tasks involving unseen object types and new motions? In this paper, we provide a solution in terms of predicting motion information from web data through human video generation and…

Both text and video data are abundant on the internet and support large-scale self-supervised learning through next token or frame prediction. However, they have not been equally leveraged: language models have had significant real-world…

Large-scale generative models have achieved remarkable success in a number of domains. However, for sequential decision-making problems, such as robotics, action-labelled data is often scarce and therefore scaling-up foundation models for…

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

While reinforcement learning has achieved remarkable successes in several domains, its real-world application is limited due to many methods failing to generalise to unfamiliar conditions. In this work, we consider the problem of…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…

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…

Robot learning methods have the potential for widespread generalization across tasks, environments, and objects. However, these methods require large diverse datasets that are expensive to collect in real-world robotics settings. For robot…

A goal of artificial intelligence is to construct an agent that can solve a wide variety of tasks. Recent progress in text-guided image synthesis has yielded models with an impressive ability to generate complex novel images, exhibiting…

The high sample complexity of reinforcement learning challenges its use in practice. A promising approach is to quickly adapt pre-trained policies to new environments. Existing methods for this policy adaptation problem typically rely on…

Real-world robotics problems often occur in domains that differ significantly from the robot's prior training environment. For many robotic control tasks, real world experience is expensive to obtain, but data is easy to collect in either…

Large-scale visual language models are widely used as pre-trained models and then adapted for various downstream tasks. While humans are known to efficiently learn new tasks from a few examples, deep learning models struggle with adaptation…

Training generalist policies for robotic manipulation has shown great promise, as they enable language-conditioned, multi-task behaviors across diverse scenarios. However, evaluating these policies remains difficult because real-world…

While pre-trained visual representations have significantly advanced imitation learning, they are often task-agnostic as they remain frozen during policy learning. In this work, we explore leveraging pre-trained text-to-image diffusion…

Learning new skills by observing humans' behaviors is an essential capability of AI. In this work, we leverage instructional videos to study humans' decision-making processes, focusing on learning a model to plan goal-directed actions in…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Video generative models can be regarded as world simulators due to their ability to capture dynamic, continuous changes inherent in real-world environments. These models integrate high-dimensional information across visual, temporal,…

Advancements in language foundation models have primarily fueled the recent surge in artificial intelligence. In contrast, generative learning of non-textual modalities, especially videos, significantly trails behind language modeling. This…