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

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…

Imitation learning with visual observations is notoriously inefficient when addressed with end-to-end behavioural cloning methods. In this paper, we explore an alternative paradigm which decomposes reasoning into three phases. First, a…

Recent advances in large language models (LLMs) have greatly improved their reasoning and decision-making abilities when deployed as agents. Richer reasoning, however, often comes at the cost of longer chain of thought (CoT), hampering…

Dexterous manipulation remains a challenging robotics problem, largely due to the difficulty of collecting extensive human demonstrations for learning. In this paper, we introduce \textsc{Gen2Real}, which replaces costly human demos with…

Character-level language models obviate the need for separately trained tokenizers, but efficiency suffers from longer sequence lengths. Learning to combine character representations into tokens has made training these models more…

Semantic segmentation is a crucial task for robot navigation and safety. However, it requires huge amounts of pixelwise annotations to yield accurate results. While recent progress in computer vision algorithms has been heavily boosted by…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing annotation tools, however, are often…

Mainstream visuomotor policies predominantly rely on generative models for holistic action prediction, while current autoregressive policies, predicting the next token or chunk, have shown suboptimal results. This motivates a search for…

Fine-tuning large language models (LLMs) is essential for enhancing their performance on specific tasks but is often resource-intensive due to redundant or uninformative data. To address this inefficiency, we introduce DELIFT (Data…

Ensuring alignment with human preferences is a crucial characteristic of large language models (LLMs). Presently, the primary alignment methods, RLHF and DPO, require extensive human annotation, which is expensive despite their efficacy.…

Pose estimation of the human body and hands is a fundamental problem in computer vision, and learning-based solutions require a large amount of annotated data. In this work, we improve the efficiency of the data annotation process for 3D…

Reinforcement learning (RL) can improve the prompt following capability of text-to-image (T2I) models, yet obtaining high-quality reward signals remains challenging: CLIP Score is too coarse-grained, while VLM-based reward models (e.g.,…

Many real-world robot learning problems, such as pick-and-place or arriving at a destination, can be seen as a problem of reaching a goal state as soon as possible. These problems, when formulated as episodic reinforcement learning tasks,…

A well-designed reward is critical for effective reinforcement learning-based policy improvement. In real-world robotics, obtaining such rewards typically requires either labor-intensive human labeling or brittle, handcrafted objectives.…

Imitation learning from large-scale, diverse human demonstrations has been shown to be effective for training robots, but collecting such data is costly and time-consuming. This challenge intensifies for multi-step bimanual mobile…

From the perspective of future developments in robotics, it is crucial to verify whether foundation models trained exclusively on offline data, such as images and language, can understand the robot motion. In particular, since Vision…

We present DexMan, an automated framework that converts human visual demonstrations into bimanual dexterous manipulation skills for humanoid robots in simulation. Operating directly on third-person videos of humans manipulating rigid…

With the rise of multimodal applications, instruction data has become critical for training multimodal language models capable of understanding complex image-based queries. Existing practices rely on powerful but costly large language…

Enabling intelligent agents to comprehend and interact with 3D environments through natural language is crucial for advancing robotics and human-computer interaction. A fundamental task in this field is ego-centric 3D visual grounding,…