相关论文: Robot Learning from Any Images

Enabling humanoid robots to follow free-form natural language commands is a critical step toward seamless human-robot interaction and general-purpose embodied AI. However, existing methods remain limited, often constrained to simple…

Vision-Language-Action (VLA) models have recently emerged as a powerful paradigm for robotic manipulation. Despite substantial progress enabled by large-scale pretraining and supervised fine-tuning (SFT), these models face two fundamental…

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

We propose a novel unsupervised method to autoregressively generate videos from a single frame and a sparse motion input. Our trained model can generate unseen realistic object-to-object interactions. Although our model has never been given…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

Reinforcement learning (RL) has emerged as a critical paradigm for post-training Vision-Language-Action (VLA) models, enabling embodied agents to adapt and improve through environmental interaction. However, existing RL frameworks for VLAs…

Reinforcement learning (RL) algorithms hold the promise of enabling autonomous skill acquisition for robotic systems. However, in practice, real-world robotic RL typically requires time consuming data collection and frequent human…

We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Video Diffusion Models (VDMs) have emerged as powerful generative tools, capable of synthesizing high-quality spatiotemporal content. Yet, their potential goes far beyond mere video generation. We argue that the training dynamics of VDMs,…

Reconstructing structured 3D scenes from RGB images using CAD objects unlocks efficient and compact scene representations that maintain compositionality and interactability. Existing works propose training-heavy methods relying on either…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

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…

We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an…