相关论文: Robot Learning from Any Images

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Learning from Demonstration (LfD) enables robots to acquire versatile skills by learning motion policies from human demonstrations. It endows users with an intuitive interface to transfer new skills to robots without the need for…

Prompt-based all-in-one image restoration (IR) frameworks have achieved remarkable performance by incorporating degradation-specific information into prompt modules. Nevertheless, handling the complex and diverse degradations encountered in…

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models.…

In contrast to single-skill tasks, long-horizon tasks play a crucial role in our daily life, e.g., a pouring task requires a proper concatenation of reaching, grasping and pouring subtasks. As an efficient solution for transferring human…

In this paper we present a data-driven approach to obtain the static image of a scene, eliminating dynamic objects that might have been present at the time of traversing the scene with a camera. The general objective is to improve…

Randomized linear algebra (RLA) algorithms are a modern class of numerical linear algebra techniques that play an essential role in scientific computing and machine learning, with broad and growing adoption. However, their discovery remains…

Recent advances in vision-language-action (VLA) models have motivated the extension of their capabilities to embodied settings, where reinforcement learning (RL) offers a principled way to optimize task success through interaction. However,…

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…

Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…

We present a novel deep architecture and a training strategy to learn a local feature pipeline from scratch, using collections of images without the need for human supervision. To do so we exploit depth and relative camera pose cues to…

In most interactive image generation tasks, given regions of interest (ROI) by users, the generated results are expected to have adequate diversities in appearance while maintaining correct and reasonable structures in original images. Such…

Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained significant attention. By unifying vision, language, and…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

One of the challenges in robotics is to enable robotic units with the reasoning capability that would be robust enough to execute complex tasks in dynamic environments. Recent advances in LLMs have positioned them as go-to tools for simple…

Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…

The world is filled with a wide variety of objects. For robots to be useful, they need the ability to find arbitrary objects described by people. In this paper, we present LeLaN(Learning Language-conditioned Navigation policy), a novel…

Offline reinforcement learning (RL) offers a promising framework for training agents using pre-collected datasets without the need for further environment interaction. However, policies trained on offline data often struggle to generalise…

The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this…

Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…