相关论文: EgoVLA: Learning Vision-Language-Action Models fro…

Building a generalist robot that can perceive, reason, and act across diverse tasks remains an open challenge, especially for dexterous manipulation. A major bottleneck lies in the scarcity of large-scale, action-annotated data for…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Vision-Language Models (VLMs) have emerged as a promising approach to address the data scarcity challenge in robotics, enabling the development of generalizable visuomotor control policies. While models like OpenVLA showcase the potential…

Vision-Language-Action (VLA) models achieve preliminary generalization through pretraining on large scale robot teleoperation datasets. However, acquiring datasets that comprehensively cover diverse tasks and environments is extremely…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

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…

Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve information uncertainty, i.e., the capability of active perception. However, existing methods are often confined in limited types…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Visual Robot Manipulation (VRM) aims to enable a robot to follow natural language instructions based on robot states and visual observations, and therefore requires costly multi-modal data. To compensate for the deficiency of robot data,…

Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to…

Vision-Language-Action (VLA) models have emerged as a promising approach for enabling robots to follow language instructions and predict corresponding actions. However, current VLA models mainly rely on 2D visual inputs, neglecting the rich…

In egocentric video understanding, the motion of hands and objects as well as their interactions play a significant role by nature. However, existing egocentric video representation learning methods mainly focus on aligning video…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

Being able to map the activities of others into one's own point of view is one fundamental human skill even from a very early age. Taking a step toward understanding this human ability, we introduce EgoExoLearn, a large-scale dataset that…

We propose a self-supervised algorithm to learn representations from egocentric video data. Recently, significant efforts have been made to capture humans interacting with their own environments as they go about their daily activities. In…

AI personal assistants deployed via robots or wearables require embodied understanding to collaborate with humans effectively. However, current Vision-Language Models (VLMs) primarily focus on third-person view videos, neglecting the…

Emerging embodied AI applications, such as wearable cameras and autonomous agents, have underscored the need for robust reasoning from first person video streams. We introduce EgoVLM, a vision-language model specifically designed to…

Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical…

The advancement of embodied AI has unlocked significant potential for intelligent humanoid robots. However, progress in both Vision-Language-Action (VLA) models and world models is severely hampered by the scarcity of large-scale, diverse…

Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are faced with unfamiliar tasks, such as…