相关论文: One-Policy-Fits-All: Geometry-Aware Action Latents…

Cross-robot policy learning -- training a single policy to perform well across multiple embodiments -- remains a central challenge in robot learning. Transformer-based policies, such as vision-language-action (VLA) models, are typically…

Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single…

End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

Modern machine learning systems rely on large datasets to attain broad generalization, and this often poses a challenge in robot learning, where each robotic platform and task might have only a small dataset. By training a single policy…

Transparency-aware generation requires modeling not only RGB appearance but also alpha-based opacity and cross-layer composition, which are essential for tasks such as image matting, object removal, layer decomposition, and multi-layer…

Designing a single model to address multiple tasks has been a long-standing objective in artificial intelligence. Recently, large language models have demonstrated exceptional capability in solving different tasks within the language…

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…

Scalable robot policy pre-training has been hindered by the high cost of collecting high-quality demonstrations for each platform. In this study, we address this issue by uniting offline reinforcement learning (offline RL) with…

Robot manipulation learning from human demonstrations offers a rapid means to acquire skills but often lacks generalization across diverse scenes and object placements. This limitation hinders real-world applications, particularly in…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…

In this work, we pursue a unified paradigm for multimodal pretraining to break the scaffolds of complex task/modality-specific customization. We propose OFA, a Task-Agnostic and Modality-Agnostic framework that supports Task…

Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper…

Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although Vision-Language-Action (VLA) models are pre-trained on large and diverse datasets, they typically rely on embodiment-specific…

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy…

Recent diffusion-based approaches have made significant advances in image-based virtual try-on, enabling more realistic and end-to-end garment synthesis. However, most existing methods remain constrained by their reliance on exhibition…

Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…

We present 3D FlowMatch Actor (3DFA), a 3D policy architecture for robot manipulation that combines flow matching for trajectory prediction with 3D pretrained visual scene representations for learning from demonstration. 3DFA leverages 3D…

Morphology-aware policy learning is a means of enhancing policy sample efficiency by aggregating data from multiple agents. These types of policies have previously been shown to help generalize over dynamic, kinematic, and limb…

Dexterous manipulation policies today largely assume fixed hand designs, severely restricting their generalization to new embodiments with varied kinematic and structural layouts. To overcome this limitation, we introduce a parameterized…