相关论文: A Flexible Field-Based Policy Learning Framework f…

Modern machine learning systems rely on large datasets to attain broad generalization, and this often poses a challenge in robot learning, where each robotic platform and task might have only a small dataset. By training a single policy…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

This paper presents a novel deep learning framework for robotic arm manipulation that integrates multimodal inputs using a late-fusion strategy. Unlike traditional end-to-end or reinforcement learning approaches, our method processes image…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

Achieving diverse and stable dexterous grasping for general and deformable objects remains a fundamental challenge in robotics, due to high-dimensional action spaces and uncertainty in perception. In this paper, we present D3Grasp, a…

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer notable advantages such as strong multi-task generalization,…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

Recent advances in skill learning has propelled robot manipulation to new heights by enabling it to learn complex manipulation tasks from a practical number of demonstrations. However, these skills are often limited to the particular…

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…

Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent…