相关论文: AMPLIFY: Actionless Motion Priors for Robot Learni…

Static image action recognition, which aims to recognize action based on a single image, usually relies on expensive human labeling effort such as adequate labeled action images and large-scale labeled image dataset. In contrast, abundant…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…

We study off-dynamics offline reinforcement learning, where the goal is to learn a policy from offline source and limited target datasets with mismatched dynamics. Existing methods either penalize the reward or discard source transitions…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

Mixup is an effective data augmentation method that generates new augmented samples by aggregating linear combinations of different original samples. However, if there are noises or aberrant features in the original samples, Mixup may…

Using massive datasets to train large-scale models has emerged as a dominant approach for broad generalization in natural language and vision applications. In reinforcement learning, however, a key challenge is that available data of…

How can unlabeled video augment visual learning? Existing methods perform "slow" feature analysis, encouraging the representations of temporally close frames to exhibit only small differences. While this standard approach captures the fact…

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…

The potential benefits of model-free reinforcement learning to real robotics systems are limited by its uninformed exploration that leads to slow convergence, lack of data-efficiency, and unnecessary interactions with the environment. To…

The emerging field of action prediction plays a vital role in various computer vision applications such as autonomous driving, activity analysis and human-computer interaction. Despite significant advancements, accurately predicting future…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

This paper introduces EXMOVES, learned exemplar-based features for efficient recognition of actions in videos. The entries in our descriptor are produced by evaluating a set of movement classifiers over spatial-temporal volumes of the input…

We address the problem of data augmentation for video action recognition. Standard augmentation strategies in video are hand-designed and sample the space of possible augmented data points either at random, without knowing which augmented…

In robotics, it is often not possible to learn useful policies using pure model-free reinforcement learning without significant reward shaping or curriculum learning. As a consequence, many researchers rely on expert demonstrations to guide…

Learning from videos offers a promising path toward generalist robots by providing rich visual and temporal priors beyond what real robot datasets contain. While existing video generative models produce impressive visual predictions, they…

In 3D human pose and shape estimation, SMPLify remains a robust baseline that solves inverse kinematics (IK) through iterative optimization. However, its high computational cost limits its practicality. Recent advances across domains have…

Learning from Demonstration (LfD) enables robots to acquire versatile skills by learning motion policies from human demonstrations. It endows users with an intuitive interface to transfer new skills to robots without the need for…

We present a general, two-stage reinforcement learning approach to create robust policies that can be deployed on real robots without any additional training using a single demonstration generated by trajectory optimization. The…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…