相关论文: RoboPaint: From Human Demonstration to Any Robot a…

Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synthetic data through simulation. However,…

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…

Vision-language-action (VLA) models typically rely on large-scale real-world videos, whereas simulated data, despite being inexpensive and highly parallelizable to collect, often suffers from a substantial visual domain gap and limited…

This work presents reinforcement learning (RL)-driven data augmentation to improve the generalization of vision-action (VA) models for dexterous grasping. While real-to-sim-to-real frameworks, where a few real demonstrations seed…

Dexterous manipulation remains a challenging robotics problem, largely due to the difficulty of collecting extensive human demonstrations for learning. In this paper, we introduce \textsc{Gen2Real}, which replaces costly human demos with…

Scaling robot learning requires vast and diverse datasets. Yet the prevailing data collection paradigm-human teleoperation-remains costly and constrained by manual effort and physical robot access. We introduce Real2Render2Real (R2R2R), a…

While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-effectors performing simple, vision-guided pick-and-place…

While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline…

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…

Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perception--vision, sound, and language-guided intent--to perform…

We present DexCanvas, a large-scale hybrid real-synthetic human manipulation dataset containing 7,000 hours of dexterous hand-object interactions seeded from 70 hours of real human demonstrations, organized across 21 fundamental…

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we…

Large behavior models have shown strong dexterous manipulation capabilities by extending imitation learning to large-scale training on multi-task robot data, yet their generalization remains limited by the insufficient robot data coverage.…

Traditional robotic systems typically decompose intelligence into independent modules for computer vision, natural language processing, and motion control. Vision-Language-Action (VLA) models fundamentally transform this approach by…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse tasks involving 96 object classes. RoboMIND is collected…

Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world…

Real robot data collection for imitation learning has led to significant advancements in robotic manipulation. However, the requirement for robot hardware in the process fundamentally constrains the scale of the data. In this paper, we…

Kinematic retargeting from human hands to robot hands is essential for transferring dexterity from humans to robots in manipulation teleoperation and imitation learning. However, due to mechanical differences between human and robot hands,…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…