相关论文: RoboCurate: Harnessing Diversity with Action-Verif…

We introduce Vid-CamEdit, a novel framework for video camera trajectory editing, enabling the re-synthesis of monocular videos along user-defined camera paths. This task is challenging due to its ill-posed nature and the limited multi-view…

Visuomotor policies have shown great promise in robotic manipulation but often require substantial amounts of human-collected data for effective performance. A key reason underlying the data demands is their limited spatial generalization…

Simulation offers a promising approach for cheaply scaling training data for generalist policies. To scalably generate data from diverse and realistic tasks, existing algorithms either rely on large language models (LLMs) that may…

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in visuomotor control, yet ensuring their robustness in unstructured real-world environments remains a persistent challenge. In this paper, we investigate…

Robust robotic manipulation requires reliable failure detection and recovery. Although recent Vision-Language Models (VLMs) show promise in robot failure detection, their generalization is severely limited by the scarcity and narrow…

Although synthetic training data has been shown to be beneficial for tasks such as human pose estimation, its use for RGB human action recognition is relatively unexplored. Our goal in this work is to answer the question whether synthetic…

Despite recent progress, video diffusion models still struggle to synthesize realistic videos involving highly dynamic motions or requiring fine-grained motion controllability. A central limitation lies in the scarcity of such examples in…

This work presents DemoBot, a learning framework that enables a dual-arm, multi-finger robotic system to acquire complex manipulation skills from a single unannotated RGB-D video demonstration. The method extracts structured motion…

Recent developments in Large Language Models pre-trained on extensive corpora have shown significant success in various natural language processing tasks with minimal fine-tuning. This success offers new promise for robotics, which has long…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Reward specification is a notoriously difficult problem in reinforcement learning, requiring extensive expert supervision to design robust reward functions. Imitation learning (IL) methods attempt to circumvent these problems by utilizing…

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement…

In computer animation, driving a simulated character with lifelike motion is challenging. Current generative models, though able to generalize to diverse motions, often pose challenges to the responsiveness of end-user control. To address…

Vision-Language Models (VLMs) acquire real-world knowledge and general reasoning ability through Internet-scale image-text corpora. They can augment robotic systems with scene understanding and task planning, and assist visuomotor policies…

The goal of general-purpose robotics is to create agents that can seamlessly adapt to and operate in diverse, unstructured human environments. Imitation learning has become a key paradigm for robotic manipulation, yet collecting large-scale…

Current video models fail as world model as they lack fine-graiend control. General-purpose household robots require real-time fine motor control to handle delicate tasks and urgent situations. In this work, we introduce fine-grained…

Generating realistic robotic manipulation videos is an important step toward unifying perception, planning, and action in embodied agents. While existing video diffusion models require large domain-specific datasets and struggle to…

Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imbalanced temporal distribution, leading to…