相关论文: DreamDojo: A Generalist Robot World Model from Lar…

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models.…

Action-conditioned video models offer a promising path to building general-purpose robot simulators that can improve directly from data. Yet, despite training on large-scale robot datasets, current state-of-the-art video models still…

Driving world models have gained increasing attention due to their ability to model complex physical dynamics. However, their superb modeling capability is yet to be fully unleashed due to the limited video diversity in current driving…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

Agents capable of reasoning and planning in the real world require the ability of predicting the consequences of their actions. While world models possess this capability, they most often require action labels, that can be complex to obtain…

Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

State-of-the-art Vision-Language-Action (VLA) models excel at semantic generalization but struggle to generalize to unseen physical motions in novel environments. We introduce DreamZero, a World Action Model (WAM) built upon a pretrained…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

We tackle the problem of learning complex, general behaviors directly in the real world. We propose an approach for robots to efficiently learn manipulation skills using only a handful of real-world interaction trajectories from many…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Autonomous agents have made great strides in specialist domains like Atari games and Go. However, they typically learn tabula rasa in isolated environments with limited and manually conceived objectives, thus failing to generalize across a…

Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…

World models simulate future states of the world in response to different actions. They facilitate interactive content creation and provides a foundation for grounded, long-horizon reasoning. Current foundation models do not fully meet the…

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…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

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…

Action-conditioned video prediction models (often referred to as world models) have shown strong potential for robotics applications, but existing approaches are often slow and struggle to capture physically consistent interactions over…