相关论文: EmbodiSwap for Zero-Shot Robot Imitation Learning

This paper explores feature prediction as a stand-alone objective for unsupervised learning from video and introduces V-JEPA, a collection of vision models trained solely using a feature prediction objective, without the use of pretrained…

With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…

The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However, developing such controllers remains a significant…

This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

Visual Semantic Embedding (VSE) models, which map images into a rich semantic embedding space, have been a milestone in object recognition and zero-shot learning. Current approaches to VSE heavily rely on static word em-bedding techniques.…

We present a novel latent embedding model for learning a compatibility function between image and class embeddings, in the context of zero-shot classification. The proposed method augments the state-of-the-art bilinear compatibility model…

Foundation models trained on web-scale data have revolutionized robotics, but their application to low-level control remains largely limited to behavioral cloning. Drawing inspiration from the success of the reinforcement learning stage in…

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,…

Reward and representation learning are two long-standing challenges for learning an expanding set of robot manipulation skills from sensory observations. Given the inherent cost and scarcity of in-domain, task-specific robot data, learning…

Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong performance on single-step tasks, they remain limited in their…

Classical manipulator motion planners work across different robot embodiments. However they plan on a pre-specified static environment representation, and are not scalable to unseen dynamic environments. Neural Motion Planners (NMPs) are an…

To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment alignment is challenging due to…

Existing navigation methods are primarily designed for specific robot embodiments, limiting their generalizability across diverse robot platforms. In this paper, we introduce X-Nav, a novel framework for end-to-end cross-embodiment…

Data collection in robotics is spread across diverse hardware, and this variation will increase as new hardware is developed. Effective use of this growing body of data requires methods capable of learning from diverse robot embodiments. We…

Cross-embodiment learning from human demonstrations is hindered by the visual gap between human and robot embodiments. While self-supervised learning (SSL) backbones encode rich inter-class semantics of general objects, we show they fail to…

Zero-shot learning for visual recognition, e.g., object and action recognition, has recently attracted a lot of attention. However, it still remains challenging in bridging the semantic gap between visual features and their underlying…

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…