相关论文: Generalist Robot Manipulation beyond Action Labele…

A long-standing challenge for a robotic manipulation system operating in real-world scenarios is adapting and generalizing its acquired motor skills to unseen environments. We tackle this challenge employing hybrid skill models that…

Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch, and audio -- to fill in gaps from partial observation. For…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Gathering real-world data from the robot quickly becomes a bottleneck when constructing a robot learning system for grasping. In this work, we design a semi-supervised grasping system that, on top of a small sample of robot experience,…

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial…

Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the…

Human-like generalization in open-world remains a fundamental challenge for robotic manipulation. Existing learning-based methods, including reinforcement learning, imitation learning, and vision-language-action-models (VLAs), often…

Video generation models have advanced rapidly and are beginning to show a strong understanding of physical dynamics. In this paper, we investigate how far an advanced video generation model such as Veo-3 can support generalizable robotic…

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,…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…

Learning general-purpose models from diverse datasets has achieved great success in machine learning. In robotics, however, existing methods in multi-task learning are typically constrained to a single robot and workspace, while recent work…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

Robots still lag behind humans in their ability to generalize from limited experience, particularly when transferring learned behaviors to long-horizon tasks in unseen environments. We present the first method that enables robots to…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation…