相关论文: Human Preference Modeling Using Visual Motion Pred…

Egocentric world models present a promising direction for enabling agents to predict and plan, but their performance is constrained by the limited availability of egocentric training data and its inherent partial observability of humans'…

Preference-based reinforcement learning (RL) provides a framework to train agents using human preferences between two behaviors. However, preference-based RL has been challenging to scale since it requires a large amount of human feedback…

We present a comprehensive solution to learn and improve text-to-image models from human preference feedback. To begin with, we build ImageReward -- the first general-purpose text-to-image human preference reward model -- to effectively…

Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires specifying all the relevant features a priori, which is…

Recent advances in human preference alignment have significantly improved multimodal generation and understanding. A key approach is to train reward models that provide supervision signals for preference optimization. However, existing…

From Vision-Language-Action (VLA) systems to robotics, existing egocentric datasets primarily focus on action recognition tasks, while largely overlooking the inherent role of motion analysis in sports and other fast-movement scenarios. To…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

When humans control drones, cars, and robots, we often have some preconceived notion of how our inputs should make the system behave. Existing approaches to teleoperation typically assume a one-size-fits-all approach, where the designers…

We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the…

We present a novel approach to estimating physical properties of objects from video. Our approach consists of a physics engine and a correction estimator. Starting from the initial observed state, object behavior is simulated forward in…

Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often…

Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…

The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…

Derived from rapid advances in computer vision and machine learning, video analysis tasks have been moving from inferring the present state to predicting the future state. Vision-based action recognition and prediction from videos are such…

Large-scale egocentric video datasets capture diverse human activities across a wide range of scenarios, offering rich and detailed insights into how humans interact with objects, especially those that require fine-grained dexterous…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Learning from human feedback has shown to be a useful approach in acquiring robot reward functions. However, expert feedback is often assumed to be drawn from an underlying unimodal reward function. This assumption does not always hold…

Specifying reward signals that allow agents to learn complex behaviors is a long-standing challenge in reinforcement learning. A promising approach is to extract preferences for behaviors from unlabeled videos, which are widely available on…