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

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

Current methods for trajectory prediction operate in supervised manners, and therefore require vast quantities of corresponding ground truth data for training. In this paper, we present a novel, label-free algorithm, AutoTrajectory, for…

Many real world learning tasks involve complex or hard-to-specify objectives, and using an easier-to-specify proxy can lead to poor performance or misaligned behavior. One solution is to have humans provide a training signal by…

We propose a general purpose active learning algorithm for structured prediction, gathering labeled data for training a model that outputs a set of related labels for an image or video. Active learning starts with a limited initial training…

We propose a deep video prediction model conditioned on a single image and an action class. To generate future frames, we first detect keypoints of a moving object and predict future motion as a sequence of keypoints. The input image is…

We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…

Video is a scalable observation of physical dynamics: it captures how objects move, how contact unfolds, and how scenes evolve under interaction -- all without requiring robot action labels. Yet translating this temporal structure into…

Videos are more well-organized curated data sources for visual concept learning than images. Unlike the 2-dimensional images which only involve the spatial information, the additional temporal dimension bridges and synchronizes multiple…

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…

Learning latent actions from action-free video has emerged as a powerful paradigm for scaling up controllable world model learning. Latent actions provide a natural interface for users to iteratively generate and manipulate videos. However,…

Pretrained video generation models provide strong priors for robot control, but existing unified world action models still struggle to decode reliable actions without substantial robot-specific training. We attribute this limitation to a…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

Learning natural, animal-like locomotion from demonstrations has become a core paradigm in legged robotics. Despite the recent advancements in motion tracking, most existing methods demand extensive tuning and rely on reference data during…

Learning natural, animal-like locomotion from demonstrations has become a core paradigm in legged robotics. Despite the recent advancements in motion tracking, most existing methods demand extensive tuning and rely on reference data during…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…

A general-purpose intelligent robot must be able to learn autonomously and be able to accomplish multiple tasks in order to be deployed in the real world. However, standard reinforcement learning approaches learn separate task-specific…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

The ability to learn manipulation skills by watching videos of humans has the potential to unlock a new source of highly scalable data for robot learning. Here, we tackle prehensile manipulation, in which tasks involve grasping an object…