相关论文: AnyTask: an Automated Task and Data Generation Fra…

Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…

The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs,…

We introduce GRS (Generating Robotic Simulation tasks), a system addressing real-to-sim for robotic simulations. GRS creates digital twin simulations from single RGB-D observations with solvable tasks for virtual agent training. Using…

Visuomotor policies often suffer from perceptual challenges, where visual differences between training and evaluation environments degrade policy performance. Policies relying on state estimations, like 6D pose, require task-specific…

Large Language Model (LLM) based agents have demonstrated proficiency in multi-step interactions with graphical user interfaces (GUIs). While most research focuses on improving single-task performance, practical scenarios often involve…

Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…

Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism,…

Graphical User Interface (GUI) agents can automate complex tasks across digital environments, but their development is hindered by the scarcity of high-quality trajectory data for training. Existing approaches rely on expensive human…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…

Generalist robot policies that can perform many tasks typically require extensive expert data or simulations for training. In this work, we propose a novel Data-Efficient multitask DAgger framework that distills a single multitask policy…

Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…

Diffusion models have recently been employed to generate high-quality images, reducing the need for manual data collection and improving model generalization in tasks such as object detection, instance segmentation, and image perception.…

Training robotic policies directly in the real world is expensive and unscalable. Although generative simulation enables large-scale data synthesis, current approaches often fail to generate logically coherent long-horizon tasks and…

Vision-Language-Action (VLA) systems have shown strong potential for language-driven robotic manipulation. However, scaling them to long-horizon tasks remains challenging. Existing pipelines typically separate data collection, policy…

Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose…

Evaluating learned robot control policies to determine their physical task-level capabilities costs experimenter time and effort. The growing number of policies and tasks exacerbates this issue. It is impractical to test every policy on…

Agentic tasks, which require multi-step problem solving with autonomy, tool use, and adaptive reasoning, are becoming increasingly central to the advancement of NLP and AI. However, existing instruction data lacks tool interaction, and…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…