相关论文: Robot Learning from Any Images

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for general-purpose robotic manipulation, leveraging large-scale pre-training to achieve strong performance. The field has rapidly evolved with additional spatial…

Can we learn robot manipulation for everyday tasks, only by watching videos of humans doing arbitrary tasks in different unstructured settings? Unlike widely adopted strategies of learning task-specific behaviors or direct imitation of a…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

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…

In this paper, we propose the LoRA of Change (LoC) framework for image editing with visual instructions, i.e., before-after image pairs. Compared to the ambiguities, insufficient specificity, and diverse interpretations of natural language,…

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…

Vision-language-action (VLA) models typically rely on large-scale real-world videos, whereas simulated data, despite being inexpensive and highly parallelizable to collect, often suffers from a substantial visual domain gap and limited…

We introduce RynnVLA-002, a unified Vision-Language-Action (VLA) and world model. The world model leverages action and visual inputs to predict future image states, learning the underlying physics of the environment to refine action…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

Observational learning requires an agent to learn to perform a task by referencing only observations of the performed task. This work investigates the equivalent setting in real-world robot learning where access to hand-designed rewards and…

Humans can flexibly interpret and compose different goal specifications, such as language instructions, spatial coordinates, or visual references, when navigating to a destination. In contrast, most existing robotic navigation policies are…

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…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large…

We introduce a data-driven approach for interactively synthesizing in-the-wild images from semantic label maps. Our approach is dramatically different from recent work in this space, in that we make use of no learning. Instead, our approach…