相关论文: RoboCade: Gamifying Robot Data Collection

In recent years, imitation learning from large-scale human demonstrations has emerged as a promising paradigm for training robot policies. However, the burden of collecting large quantities of human demonstrations is significant in terms of…

Collecting embodied interaction data at scale remains costly and difficult due to the limited accessibility of conventional interfaces. We present a gamified data collection framework based on Unity that combines procedural scene…

Acquiring multiple skills has commonly involved collecting a large number of expert demonstrations per task or engineering custom reward functions. Recently it has been shown that it is possible to acquire a diverse set of skills by…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

A long-standing goal in robot learning is to develop methods for robots to acquire new skills autonomously. While reinforcement learning (RL) comes with the promise of enabling autonomous data collection, it remains challenging to scale 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,…

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…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…

Imitation Learning has empowered recent advances in learning robotic manipulation tasks by addressing shortcomings of Reinforcement Learning such as exploration and reward specification. However, research in this area has been limited to…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

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,…

Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive…

We identify the need for a gamified self-driving simulator where game mechanics encourage high-quality data capture, and design and apply such a simulator to collecting lane-following training data. The resulting synthetic data enables a…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…

Large-scale data is an essential component of machine learning as demonstrated in recent advances in natural language processing and computer vision research. However, collecting large-scale robotic data is much more expensive and slower as…