相关论文: EasyMimic: A Low-Cost Framework for Robot Imitatio…

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…

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into…

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…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

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…

Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…

Video data is more cost-effective than motion capture data for learning 3D character motion controllers, yet synthesizing realistic and diverse behaviors directly from videos remains challenging. Previous approaches typically rely on…

Optimizing behaviors for dexterous manipulation has been a longstanding challenge in robotics, with a variety of methods from model-based control to model-free reinforcement learning having been previously explored in literature. Perhaps…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing approaches largely rely on human teleoperation with wearable…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…

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…

We build a system that enables any human to control a robot hand and arm, simply by demonstrating motions with their own hand. The robot observes the human operator via a single RGB camera and imitates their actions in real-time. Human…

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…

In recent years, generative artificial intelligence has achieved significant advancements in the field of image generation, spawning a variety of applications. However, video generation still faces considerable challenges in various…

Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate…

Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more broadly, due to the amount of cost and human effort involved.…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

We aim to enable humanoid robots to efficiently solve new manipulation tasks from a few video examples. In-context learning (ICL) is a promising framework for achieving this goal due to its test-time data efficiency and rapid adaptability.…