相关论文: Learning Geometrically-Grounded 3D Visual Represen…

Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on learning geometric scene information while neglecting…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. navigating a complex environment)? What are the consequences of not utilizing such visual…

The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…

Deploying machine learning algorithms for robot tasks in real-world applications presents a core challenge: overcoming the domain gap between the training and the deployment environment. This is particularly difficult for visuomotor…

Visuomotor policies learned from demonstrations often overfit to nuisance visual factors in raw RGB observations, resulting in brittle behavior under appearance shifts such as background changes and object recoloring. We propose a…

Humanoid robots exhibit significant potential in executing diverse human-level skills. However, current research predominantly relies on data-driven approaches that necessitate extensive training datasets to achieve robust multimodal…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Vision-Language-Action (VLA) models achieve strong generalization in robotic manipulation but remain largely reactive and 2D-centric, making them unreliable in tasks that require precise 3D reasoning. We propose GeoPredict, a geometry-aware…

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,…

Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…

We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization training. During the joint training stage, a neural network…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…

In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…

Generalist robot policies built upon 2D visual representations excel at semantic reasoning but inherently lack the explicit 3D spatial awareness required for high-precision tasks. Existing 3D integration methods struggle to bridge this gap…

We consider the problem of visual imitation learning without human supervision (e.g. kinesthetic teaching or teleoperation), nor access to an interactive reinforcement learning (RL) training environment. We present a geometric perspective…

Despite recent advances in appearance-based gaze estimation techniques, the need for training data that covers the target head pose and gaze distribution remains a crucial challenge for practical deployment. This work examines a novel…

Learning provides a powerful tool for vision-based navigation, but the capabilities of learning-based policies are constrained by limited training data. If we could combine data from all available sources, including multiple kinds of…

Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…