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

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

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 present LARNet, a novel end-to-end approach for generating human action videos. A joint generative modeling of appearance and dynamics to synthesize a video is very challenging and therefore recent works in video synthesis have proposed…

Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…

We introduce Robowheel, a data engine that converts human hand object interaction (HOI) videos into training-ready supervision for cross morphology robotic learning. From monocular RGB or RGB-D inputs, we perform high precision HOI…

The emergence of Large Language Models (LLMs) has improved the prospects for robotic tasks. However, existing benchmarks are still limited to single tasks with limited generalization capabilities. In this work, we introduce a comprehensive…

Training multimodal large language models (MLLMs) for video understanding requires large-scale annotated data spanning diverse tasks such as object counting, question answering, and segmentation. However, collecting and annotating…

Generalist robot learning remains constrained by data: large-scale, diverse, and high-quality interaction data are expensive to collect in the real world. While simulation has become a promising way for scaling up data collection, the…

Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…

A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existing retargeting pipelines often struggle with the significant…

With recent advances in deep learning, numerous algorithms have been developed to enhance video quality, reduce visual artifacts, and improve perceptual quality. However, little research has been reported on the quality assessment of…

The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this…

The demand for realistic and versatile character animation has surged, driven by its wide-ranging applications in various domains. However, the animation generation algorithms modeling human pose with 2D or 3D structures all face various…

Deep learning is now the gold standard in computer vision-based quality inspection systems. In order to detect defects, supervised learning is often utilized, but necessitates a large amount of annotated images, which can be costly:…

Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. However, acquiring large-scale,…

Zero-shot generalization across various robots, tasks and environments remains a significant challenge in robotic manipulation. Policy code generation methods use executable code to connect high-level task descriptions and low-level action…

A key challenge in robotic manipulation in open domains is how to acquire diverse and generalizable skills for robots. Recent research in one-shot imitation learning has shown promise in transferring trained policies to new tasks based on…

With the rapid advancement of text-conditioned Video Generation Models (VGMs), the quality of generated videos has significantly improved, bringing these models closer to functioning as ``*world simulators*'' and making real-world-level…

Recent advances in large-scale video world models have enabled increasingly realistic future prediction, raising the prospect of using generated videos as scalable supervision for robot learning. However, for embodied manipulation,…

Many application areas ranging from serious games for health to learning by demonstration in robotics, could benefit from large body movement datasets extracted from textual instructions accompanied by images. The interpretation of…