相关论文: Sim2real Image Translation Enables Viewpoint-Robus…

The goal of this work is to address the recent success of domain randomization and data augmentation for the sim2real setting. We explain this success through the lens of causal inference, positioning domain randomization and data…

Learned language-conditioned robot policies often struggle to effectively adapt to new real-world tasks even when pre-trained across a diverse set of instructions. We propose a novel approach for few-shot adaptation to unseen tasks that…

Deep neural networks that achieve remarkable performance in image classification have previously been shown to be easily fooled by tiny transformations such as a one pixel translation of the input image. In order to address this problem,…

Autonomous robotic systems capable of learning novel manipulation tasks are poised to transform industries from manufacturing to service automation. However, modern methods (e.g., VIP and R3M) still face significant hurdles, notably the…

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…

To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…

Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…

Sim2real for robotic manipulation is difficult due to the challenges of simulating complex contacts and generating realistic task distributions. To tackle the latter problem, we introduce ManipGen, which leverages a new class of policies…

Multi-agent systems provide a powerful way to extend large language models (LLMs) by decomposing a complex task into specialized subtasks handled by different agents. However, their performance is often hindered by error propagation,…

We introduce Talk2Move, a reinforcement learning (RL) based diffusion framework for text-instructed spatial transformation of objects within scenes. Spatially manipulating objects in a scene through natural language poses a challenge for…

Our goal is to capture the pose of neuroscience model organisms, without using any manual supervision, to be able to study how neural circuits orchestrate behaviour. Human pose estimation attains remarkable accuracy when trained on real or…

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)…

This paper studies the problem of predicting future trajectories of people in unseen cameras of novel scenarios and views. We approach this problem through the real-data-free setting in which the model is trained only on 3D simulation data…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Mangroves are critical for climate-change mitigation, requiring reliable monitoring for effective conservation. While deep learning has emerged as a powerful tool for mangrove detection, its progress is hindered by the limitations of…

Bimanual manipulation, fundamental to human daily activities, remains a challenging task due to its inherent complexity of coordinated control. Recent advances have enabled zero-shot learning of single-arm manipulation skills through…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

Visuomotor policies trained on human expert demonstrations have recently shown strong performance across a wide range of robotic manipulation tasks. However, these policies remain highly sensitive to domain shifts stemming from background…