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

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…

Generative models trained on internet data have revolutionized how text, image, and video content can be created. Perhaps the next milestone for generative models is to simulate realistic experience in response to actions taken by humans,…

Humans naturally build mental models of object interactions and dynamics, allowing them to imagine how their surroundings will change if they take a certain action. While generative models today have shown impressive results on…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…

Reinforcement learning from large-scale offline datasets provides us with the ability to learn policies without potentially unsafe or impractical exploration. Significant progress has been made in the past few years in dealing with the…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

World models have made significant progress in modeling dynamic environments; however, most embodied world models are still restricted to 2D representations, lacking the comprehensive multi-view information essential for embodied spatial…

A world model is an AI system that simulates how an environment evolves under actions, enabling planning through imagined futures rather than reactive perception. Current world models, however, suffer from visual conflation: the mistaken…

Considering how to make the model accurately understand and follow natural language instructions and perform actions consistent with world knowledge is a key challenge in robot manipulation. This mainly includes human fuzzy instruction…

We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, and system parameters. Dojo models hard contact and friction…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

Inspired by how humans combine direct interaction with action-free experience (e.g., videos), we study world models that learn from heterogeneous data. Standard world models typically rely on action-conditioned trajectories, which limits…

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…

We introduce DualMind, a generalist agent designed to tackle various decision-making tasks that addresses challenges posed by current methods, such as overfitting behaviors and dependence on task-specific fine-tuning. DualMind uses a novel…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

Large-scale video generative models can synthesize diverse and realistic visual content for dynamic world creation, but they often lack element-wise controllability, hindering their use in editing scenes and training embodied AI agents. We…

Recently, video-based world models that learn to simulate the dynamics have gained increasing attention in robot learning. However, current approaches primarily emphasize visual generative quality while overlooking physical fidelity,…

Enabling robots to dexterously grasp and manipulate objects based on human commands is a promising direction in robotics. However, existing approaches are challenging to generalize across diverse objects or tasks due to the limited scale of…