相关论文: Learning in ImaginationLand: Omnidirectional Polic…

Continual learning refers to the ability of humans and animals to incrementally learn over time in a given environment. Trying to simulate this learning process in machines is a challenging task, also due to the inherent difficulty in…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

Robotic foundation models, or generalist robot policies, hold immense potential to enable flexible, general-purpose and dexterous robotic systems. Despite their advancements, our empirical experiments reveal that existing robot policies are…

Deep generative models (DGMs) have demonstrated great success across various domains, particularly in generating texts, images, and videos using models trained from offline data. Similarly, data-driven decision-making and robotic control…

Efficiently leveraging simulation to acquire advanced manipulation skills is both challenging and highly significant. We introduce \textit{ForeRobo}, a generative robotic agent that utilizes generative simulations to autonomously acquire…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

We present a data-efficient framework for solving visuomotor sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. Our framework trains deep visuomotor…

Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…

Learning generalizable robotic manipulation policies remains a key challenge due to the scarcity of diverse real-world training data. While recent approaches have attempted to mitigate this through self-supervised representation learning,…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

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…

Can we learn the physics of matter in motion directly from images and video--and trust it? Answering this question requires integrating experiments, physics-based simulation, and data across traditionally separate disciplines. Much of this…

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…

Rapid progress in deep reinforcement learning has made it increasingly feasible to train controllers for high-dimensional humanoid bodies. However, methods that use pure reinforcement learning with simple reward functions tend to produce…

Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such representations often entangle task-relevant and irrelevant…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Generative models trained on internet data have revolutionized how text, image, and video content can be created. Perhaps the next milestone for generative models is to simulate realistic experience in response to actions taken by humans,…

Can we generate a control policy for an agent using just one demonstration of desired behaviors as a prompt, as effortlessly as creating an image from a textual description? In this paper, we present Make-An-Agent, a novel policy parameter…

World models for environments with many objects face a combinatorial explosion of states: as the number of objects increases, the number of possible arrangements grows exponentially. In this paper, we learn to generalize over robotic…