相关论文: DeCo: Task Decomposition and Skill Composition for…

Compositional Zero-Shot Learning (CZSL) aims to recognize unseen attribute-object compositions by learning prior knowledge of seen primitives, \textit{i.e.}, attributes and objects. Learning generalizable compositional representations in…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…

Generalizing across robot embodiments and tasks is crucial for adaptive robotic systems. Modular policy learning approaches adapt to new embodiments but are limited to specific tasks, while few-shot imitation learning (IL) approaches often…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

The generalization capabilities of vision-language-action (VLA) models to unseen tasks are crucial to achieving general-purpose robotic manipulation in open-world settings. However, the cross-task generalization capabilities of existing VLA…

The large language model and high-level vision model have achieved impressive performance improvements with large datasets and model sizes. However, low-level computer vision tasks, such as image dehaze and blur removal, still rely on a…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

One approach for improving sample efficiency in cooperative multi-agent learning is to decompose overall tasks into sub-tasks that can be assigned to individual agents. We study this problem in the context of reward machines: symbolic tasks…

Long-horizon collaborative vision-language navigation (VLN) is critical for multi-robot systems to accomplish complex tasks beyond the capability of a single agent. CoNavBench takes a first step by introducing the first collaborative…

The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects…

Despite the prevalence of transparent object interactions in human everyday life, transparent robotic manipulation research remains limited to short-horizon tasks and basic grasping capabilities. Although some methods have partially…

Dense 3D correspondence can enhance robotic manipulation by enabling the generalization of spatial, functional, and dynamic information from one object to an unseen counterpart. Compared to shape correspondence, semantic correspondence is…

Masked Image Modeling (MIM) has recently been established as a potent pre-training paradigm. A pretext task is constructed by masking patches in an input image, and this masked content is then predicted by a neural network using visible…

Model merging is a flexible and computationally tractable approach to merge single-task checkpoints into a multi-task model. Prior work has solely focused on constrained multi-task settings where there is a one-to-one mapping between a…

Long-context reasoning is essential for complex real-world applications, yet remains a significant challenge for Large Language Models (LLMs). Despite the rapid evolution in long-context reasoning, current research often overlooks the…

We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the latent space of a learned world model and transfers these skills…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Human-Object interaction (HOI) detection aims to localize and infer relationships between human and objects in an image. It is challenging because an enormous number of possible combinations of objects and verbs types forms a long-tail…

Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…