相关论文: VisionLaw: Inferring Interpretable Intrinsic Dynam…

Discovering physical laws directly from high-dimensional visual data is a long-standing human pursuit but remains a formidable challenge for machines, representing a fundamental goal of scientific intelligence. This task is inherently…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimensional visual observations. A key reason…

How to improve the ability of scene representation is a key issue in vision-oriented decision-making applications, and current approaches usually learn task-relevant state representations within visual reinforcement learning to address this…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

Intelligent agents must reason over both continuous dynamics and discrete representations to generate effective plans in complex environments. Previous studies have shown that symbolic abstractions can emerge from neural effect predictors…

Vision-language models (VLMs) have shown strong performance on static visual understanding, yet they still struggle with dynamic spatial reasoning that requires imagining how scenes evolve under egocentric motion. Recent efforts address…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…

We introduce a general framework for visual forecasting, which directly imitates visual sequences without additional supervision. As a result, our model can be applied at several semantic levels and does not require any domain knowledge or…

Distilling interpretable physical laws from videos has led to expanded interest in the computer vision community recently thanks to the advances in deep learning, but still remains a great challenge. This paper introduces an end-to-end…

Inferring universal laws of the environment is an important ability of human intelligence as well as a symbol of general AI. In this paper, we take a step toward this goal such that we introduce a new challenging problem of inferring…

The modeling and simulation of high-dimensional multiscale systems is a critical challenge across all areas of science and engineering. It is broadly believed that even with today's computer advances resolving all spatiotemporal scales…

Automated discovery of physical laws from observational data in the real world is a grand challenge in AI. Current methods, relying on symbolic regression or LLMs, are limited to uni-modal data and overlook the rich, visual phenomenological…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

We propose HyperDynamics, a dynamics meta-learning framework that conditions on an agent's interactions with the environment and optionally its visual observations, and generates the parameters of neural dynamics models based on inferred…

Visual understanding is inherently intention-driven - humans selectively focus on different regions of a scene based on their goals. Recent advances in large multimodal models (LMMs) enable flexible expression of such intentions through…

From just a glance, humans can make rich predictions about the future state of a wide range of physical systems. On the other hand, modern approaches from engineering, robotics, and graphics are often restricted to narrow domains and…

This work proposes an approach for latent-dynamics learning that exactly enforces physical conservation laws. The method comprises two steps. First, the method computes a low-dimensional embedding of the high-dimensional dynamical-system…

The development of Vision-Language-Action (VLA) models has been significantly accelerated by pre-trained Vision-Language Models (VLMs). However, most existing end-to-end VLAs treat the VLM primarily as a multimodal encoder, directly mapping…

Learning predictive world models from visual observations is a core problem in embodied AI, with applications to model-based reinforcement learning and robotic planning. Existing latent world models typically generate future states with…