相关论文: Invariance Co-training for Robot Visual Generaliza…

Large, general-purpose robotic policies trained on diverse demonstration datasets have been shown to be remarkably effective both for controlling a variety of robots in a range of different scenes, and for acquiring broad repertoires of…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, environments, and observational modalities remain elusive. In…

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,…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Data augmentation is a ubiquitous technique for improving image classification when labeled data is scarce. Constraining the model predictions to be invariant to diverse data augmentations effectively injects the desired representational…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

A data augmentation module is utilized in contrastive learning to transform the given data example into two views, which is considered essential and irreplaceable. However, the predetermined composition of multiple data augmentations brings…

Producing agents that can generalize to a wide range of visually different environments is a significant challenge in reinforcement learning. One method for overcoming this issue is visual domain randomization, whereby at the start of each…

Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch, and audio -- to fill in gaps from partial observation. For…

An important component for generalization in machine learning is to uncover underlying latent factors of variation as well as the mechanism through which each factor acts in the world. In this paper, we test whether 17 unsupervised, weakly…

To perform well on unseen and potentially out-of-distribution samples, it is desirable for machine learning models to have a predictable response with respect to transformations affecting the factors of variation of the input. Here, we…

Imitation learning is an effective approach for training game-playing agents and, consequently, for efficient game production. However, generalization - the ability to perform well in related but unseen scenarios - is an essential…

We are motivated by the goal of generalist robots that can complete a wide range of tasks across many environments. Critical to this is the robot's ability to acquire some metric of task success or reward, which is necessary for…

Data augmentation plays a critical role in generating high-quality positive and negative pairs necessary for effective contrastive learning. However, common practices involve using a single augmentation policy repeatedly to generate…

Data scaling has revolutionized fields like natural language processing and computer vision, providing models with remarkable generalization capabilities. In this paper, we investigate whether similar data scaling laws exist in robotics,…

In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

Model-based reinforcement learning (MBRL) has been used to efficiently solve vision-based control tasks in highdimensional image observations. Although recent MBRL algorithms perform well in trained observations, they fail when faced with…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…