相关论文: Instruct2Act: From Human Instruction to Actions Se…

Accurate and efficient recognition of Micro Air Vehicle (MAV) motion is essential for enabling real-time perception and coordination in autonomous aerial swarm. However, most existing approaches rely on large, computationally intensive…

Random exploration is one of the main mechanisms through which reinforcement learning (RL) finds well-performing policies. However, it can lead to undesirable or catastrophic outcomes when learning online in safety-critical environments. In…

Vision-language-action (VLA) models can learn to perform diverse manipulation skills "out of the box," but achieving the precision and speed that real-world tasks demand requires further fine-tuning -- for example, via reinforcement…

Humans can leverage hierarchical structures to split a task into sub-tasks and solve problems efficiently. Both imitation and reinforcement learning or a combination of them with hierarchical structures have been proven to be an efficient…

Inferring physical actions from visual observations is a fundamental capability for advancing machine intelligence in the physical world. Achieving this requires large-scale, open-vocabulary video action datasets that span broad domains. We…

Action recognition models have achieved promising results in understanding instructional videos. However, they often rely on dominant, dataset-specific action sequences rather than true video comprehension, a problem that we define as…

Temporally locating and classifying fine-grained sub-task segments in long, untrimmed videos is crucial to safe human-robot collaboration. Unlike generic activity recognition, collaborative manipulation requires sub-task labels that are…

Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…

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…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

We propose Point2Act, which directly retrieves the 3D action point relevant to a contextually described task, leveraging Multimodal Large Language Models (MLLMs). Foundation models opened the possibility for generalist robots that can…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

Evaluating human actions with clear and detailed feedback is important in areas such as sports, healthcare, and robotics, where decisions rely not only on final outcomes but also on interpretable reasoning. However, most existing methods…

Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues.…

We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, and focusing) directly from human demonstrations. On the…

Industrial robotic manipulation demands reliable long-horizon execution across embodiments, tasks, and changing object distributions. While Vision-Language-Action models have demonstrated strong generalization, they remain fundamentally…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Part-level Action Parsing aims at part state parsing for boosting action recognition in videos. Despite of dramatic progresses in the area of video classification research, a severe problem faced by the community is that the detailed…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…