相关论文: ManipDreamer: Boosting Robotic Manipulation World …

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.…

Embodied action planning is a core challenge in robotics, requiring models to generate precise actions from visual observations and language instructions. While video generation world models are promising, their reliance on pixel-level…

In multimedia understanding tasks, corrupted samples pose a critical challenge, because when fed to machine learning models they lead to performance degradation. In the past, three groups of approaches have been proposed to handle noisy…

Effective code optimization in compilers is crucial for computer and software engineering. The success of these optimizations primarily depends on the selection and ordering of the optimization passes applied to the code. While most…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for…

Imitation learning is a powerful paradigm for training robotic policies, yet its performance is limited by compounding errors: minor policy inaccuracies could drive robots into unseen out-of-distribution (OOD) states in the training set,…

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…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…

Robots learning a new manipulation task from a small amount of demonstrations are increasingly demanded in different workspaces. A classifier model assessing the quality of actions can predict the successful completion of a task, which can…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

In the context of autonomous navigation of terrestrial robots, the creation of realistic models for agent dynamics and sensing is a widespread habit in the robotics literature and in commercial applications, where they are used for model…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

Robot manipulation research still suffers from significant data scarcity: even the largest robot datasets are orders of magnitude smaller and less diverse than those that fueled recent breakthroughs in language and vision. We introduce…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

In the present paper, we propose a decoder-free extension of Dreamer, a leading model-based reinforcement learning (MBRL) method from pixels. Dreamer is a sample- and cost-efficient solution to robot learning, as it is used to train latent…

In recent years, as machine learning, particularly for vision and language understanding, has been improved, research in embedded AI has also evolved. VOYAGER is a well-known LLM-based embodied AI that enables autonomous exploration in the…