相关论文: How to Instruct Your Robot: Dense Language Annotat…

With the rapid adoption of multimodal large language models (MLLMs) across diverse applications, there is a pressing need for task-centered, high-quality training data. A key limitation of current training datasets is their reliance on…

3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…

Long-term video understanding requires interpreting complex temporal events and reasoning over procedural activities. While instructional video corpora, like HowTo100M, offer rich resources for model training, they present significant…

Long-horizon tasks in robotic manipulation present significant challenges in reinforcement learning (RL) due to the difficulty of designing dense reward functions and effectively exploring the expansive state-action space. However, despite…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

Recently, sign language researchers have turned to sign language interpreted TV broadcasts, comprising (i) a video of continuous signing and (ii) subtitles corresponding to the audio content, as a readily available and large-scale source of…

Demonstrations and natural language instructions are two common ways to specify and teach robots novel tasks. However, for many complex tasks, a demonstration or language instruction alone contains ambiguities, preventing tasks from being…

Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

We present a novel human annotated dataset for evaluating the ability for visual-language models to generate both short and long descriptions for real-world video clips, termed DeVAn (Dense Video Annotation). The dataset contains 8.5K…

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods…

Imitation learning has shown great promise in robotic manipulation, but the policy's execution is often unsatisfactorily slow due to commonly tardy demonstrations collected by human operators. In this work, we present DemoSpeedup, a…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

In recent years, much progress has been made in learning robotic manipulation policies that follow natural language instructions. Such methods typically learn from corpora of robot-language data that was either collected with specific tasks…

One of the key factors of enabling machine learning models to comprehend and solve real-world tasks is to leverage multimodal data. Unfortunately, annotation of multimodal data is challenging and expensive. Recently, self-supervised…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

Autonomous robotic wiping is an important task in various industries, ranging from industrial manufacturing to sanitization in healthcare. Deep reinforcement learning (Deep RL) has emerged as a promising algorithm, however, it often suffers…

DensePose supersedes traditional landmark detectors by densely mapping image pixels to body surface coordinates. This power, however, comes at a greatly increased annotation time, as supervising the model requires to manually label hundreds…