相关论文: Genie Centurion: Accelerating Scalable Real-World …

The development of robust and generalizable robot learning models is critically contingent upon the availability of large-scale, diverse training data and reliable evaluation benchmarks. Collecting data in the physical world poses…

Collecting large amounts of real-world interaction data to train general robotic policies is often prohibitively expensive, thus motivating the use of simulation data. However, existing methods for data generation have generally focused on…

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…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Robotic simulation today remains challenging to scale up due to the human efforts required to create diverse simulation tasks and scenes. Simulation-trained policies also face scalability issues as many sim-to-real methods focus on a single…

Training a universal controller for robots with different morphologies is a promising research trend, since it can significantly enhance the robustness and resilience of the robotic system. However, diverse morphologies can yield different…

Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…

The rise of generalist robotic policies has created an exponential demand for large-scale training data. However, on-robot data collection is labor-intensive and often limited to specific environments. In contrast, open-world images capture…

Vision-Language-Action (VLA) models have shown great potential in general robotic decision-making tasks via imitation learning. However, the variable quality of training data often constrains the performance of these models. On the other…

Generalization has been a long-standing challenge for reinforcement learning (RL). Visual RL, in particular, can be easily distracted by irrelevant factors in high-dimensional observation space. In this work, we consider robust policy…

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models.…

Vision-Language-Action (VLA) models show strong potential for general-purpose robotic manipulation, yet their closed-loop reliability often degrades under local deployment conditions. Existing evaluations typically treat test episodes as…

Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…

Large-scale demonstration data has powered key breakthroughs in robot manipulation, but collecting that data remains costly and time-consuming. We present Constraint-Preserving Data Generation (CP-Gen), a method that uses a single expert…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

We introduce Genie Envisioner (GE), a unified world foundation platform for robotic manipulation that integrates policy learning, evaluation, and simulation within a single video-generative framework. At its core, GE-Base is a large-scale,…

Building generalist agents that can rapidly adapt to new environments is a key challenge for deploying AI in the digital and real worlds. Is scaling current agent architectures the most effective way to build generalist agents? We propose a…