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

Egocentric human videos provide scalable demonstrations for imitation learning, but existing corpora often lack either fine-grained, temporally localized action descriptions or dexterous hand annotations. We introduce OpenEgo, a multimodal…

Demonstration learning aims to guide the prompt prediction via providing answered demonstrations in the few shot settings. Despite achieving promising results, existing work only concatenates the answered examples as demonstrations to the…

Egocentric videos capture how humans manipulate objects and tools, providing diverse motion cues for learning object manipulation. Unlike the costly, expert-driven manual teleoperation commonly used in training Vision-Language-Action models…

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop…

Multimodal Large Language Models (MLLMs) have shown promise in a broad range of vision-language tasks with their strong reasoning and generalization capabilities. However, they heavily depend on high-quality data in the Supervised…

Imitation learning enables robots to acquire complex manipulation skills from human demonstrations, but current methods rely solely on low-level sensorimotor data while ignoring the rich semantic knowledge humans naturally possess about…

This paper focuses on a novel and challenging vision task, dense video captioning, which aims to automatically describe a video clip with multiple informative and diverse caption sentences. The proposed method is trained without explicit…

Dense video captioning is a task of localizing interesting events from an untrimmed video and producing textual description (captions) for each localized event. Most of the previous works in dense video captioning are solely based on visual…

Pre-trained robot policies serve as the foundation of many validated robotic systems, which encapsulate extensive embodied knowledge. However, they often lack the semantic awareness characteristic of foundation models, and replacing them…

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these…

Recent advances in 3D human motion and language integration have primarily focused on text-to-motion generation, leaving the task of motion understanding relatively unexplored. We introduce Dense Motion Captioning, a novel task that aims to…

Well-designed dense reward functions in robot manipulation not only indicate whether a task is completed but also encode progress along the way. Generally, designing dense rewards is challenging and usually requires access to privileged…

Deep learning requires large amounts of data, and a well-defined pipeline for labeling and augmentation. Current solutions support numerous computer vision tasks with dedicated annotation types and formats, such as bounding boxes, polygons,…

Active learning improves annotation efficiency by selecting the most informative samples for annotation and model training. While most prior work has focused on selecting informative images for classification tasks, we investigate the more…

What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…

Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…

Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

Pretrained language models have been shown to exhibit biases and social stereotypes. Prior work on debiasing these models has largely focused on modifying embedding spaces during pretraining, which is not scalable for large models.…

Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans…