相关论文: Learning Generalizable Visuomotor Policy through D…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…

Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…

Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a systemic challenge remains unresolved, as inherent latency…

Generalizing beyond the training domain in image-based behavior cloning remains challenging. Existing methods address individual axes of generalization, workspace shifts, viewpoint changes, and cross-embodiment transfer, yet they are…

Likelihood-based policy gradient methods are the dominant approach for training robot control policies from rewards. These methods rely on differentiable action likelihoods, which constrain policy outputs to simple distributions like…

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…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

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,…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Flow matching policies learn continuous velocity fields that transport noise to actions, enabling fast deterministic inference for robot manipulation. However, standard training optimizes a pointwise velocity objective while inference…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

Robotic foundation models, or generalist robot policies, hold immense potential to enable flexible, general-purpose and dexterous robotic systems. Despite their advancements, our empirical experiments reveal that existing robot policies are…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot positions and camera viewpoints. This leads to poor…