相关论文: Zero-Shot Visual Generalization in Robot Manipulat…

Learning general-purpose models from diverse datasets has achieved great success in machine learning. In robotics, however, existing methods in multi-task learning are typically constrained to a single robot and workspace, while recent work…

In this paper, we claim that spatial understanding is the keypoint in robot manipulation, and propose SpatialVLA to explore effective spatial representations for the robot foundation model. Specifically, we introduce Ego3D Position Encoding…

Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Knotting plastic bags is a common task in daily life, yet it is challenging for robots due to the bags' infinite degrees of freedom and complex physical dynamics. Existing methods often struggle in generalization to unseen bag instances or…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Reinforcement Learning (RL) has demonstrated remarkable success in solving sequential decision-making problems. However, in real-world scenarios, RL agents often struggle to generalize when faced with unseen actions that were not…

Human beings are able to understand objectives and learn by simply observing others perform a task. Imitation learning methods aim to replicate such capabilities, however, they generally depend on access to a full set of optimal states and…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

Reinforcement Learning (RL) environments can produce training data with spurious correlations between features due to the amount of training data or its limited feature coverage. This can lead to RL agents encoding these misleading…

While it is generally acknowledged that force feedback is beneficial to robotic control, applications of policy learning to robotic manipulation typically only leverage visual feedback. Recently, symmetric neural models have been used to…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…