相关论文: Evaluating Gemini Robotics Policies in a Veo World…

Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…

Generative video models are increasingly used in design animation tasks, yet no standardized evaluation framework exists for this domain. Unlike natural video generation, design animation imposes structured constraints: specific components…

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…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Vision-Language Models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor policies that remain opaque and difficult to…

In this paper, we introduce ControlVAE, a novel model-based framework for learning generative motion control policies based on variational autoencoders (VAE). Our framework can learn a rich and flexible latent representation of skills and a…

World models, which predict future transitions from past observation and action sequences, have shown great promise for improving data efficiency in sequential decision-making. However, existing world models often require extensive…

Modern video diffusion models excel at appearance synthesis but still struggle with physical consistency: objects drift, collisions lack realistic rebound, and material responses seldom match their underlying properties. We present PhyCo, a…

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…

Simulation offers a promising approach for cheaply scaling training data for generalist policies. To scalably generate data from diverse and realistic tasks, existing algorithms either rely on large language models (LLMs) that may…

Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physical execution: each correction requires robot time, scene…

Toward unlocking the potential of generative models in immersive 4D experiences, we introduce Virtual Pet, a novel pipeline to model realistic and diverse motions for target animal species within a 3D environment. To circumvent the limited…

Large-scale video generation models have demonstrated emergent physical coherence, positioning them as potential world models. However, a gap remains between contemporary "stateless" video architectures and classic state-centric world model…

The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

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…

Large policies pretrained on diverse robot datasets have the potential to transform robotic learning: instead of training new policies from scratch, such generalist robot policies may be finetuned with only a little in-domain data, yet…

The choice of visual representation is key to scaling generalist robot policies. However, direct evaluation via policy rollouts is expensive, even in simulation. Existing proxy metrics focus on the representation's capacity to capture…

Generating simulations to train intelligent agents in game-playing and robotics from natural language input, from user input or task documentation, remains an open-ended challenge. Existing approaches focus on parts of this challenge, such…