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

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

We present a framework for building interactive, real-time, natural language-instructable robots in the real world, and we open source related assets (dataset, environment, benchmark, and policies). Trained with behavioral cloning on a…

In the field of robotic manipulation, deep imitation learning is recognized as a promising approach for acquiring manipulation skills. Additionally, learning from diverse robot datasets is considered a viable method to achieve versatility…

We consider the task of optimally fine-tuning pre-trained multilingual models, given small amounts of unlabelled target data and an annotation budget. In this paper, we introduce DEMUX, a framework that prescribes the exact data-points to…

This paper proposes Omni Dense Captioning, a novel task designed to generate continuous, fine-grained, and structured audio-visual narratives with explicit timestamps. To ensure dense semantic coverage, we introduce a six-dimensional…

Large language models (LLMs) can provide rich physical descriptions of most worldly objects, allowing robots to achieve more informed and capable grasping. We leverage LLMs' common sense physical reasoning and code-writing abilities to…

Emotion understanding is a critical yet challenging task. Most existing approaches rely heavily on identity-sensitive information, such as facial expressions and speech, which raises concerns about personal privacy. To address this, we…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

The control of a robot for manipulation tasks generally relies on object detection and pose estimation. An attractive alternative is to learn control policies directly from raw input data. However, this approach is time-consuming and…

Low-rank adaptation (LoRA) has been developed as an efficient approach for adapting large language models (LLMs) by fine-tuning two low-rank matrices, thereby reducing the number of trainable parameters. However, prior research indicates…

We present a framework for learning hierarchical policies from demonstrations, using sparse natural language annotations to guide the discovery of reusable skills for autonomous decision-making. We formulate a generative model of action…

We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and…

We introduce Language Feedback Models (LFMs) that identify desirable behaviour - actions that help achieve tasks specified in the instruction - for imitation learning in instruction following. To train LFMs, we obtain feedback from Large…

Current reinforcement learning from human feedback (RLHF) pipelines for large language model (LLM) alignment typically assign scalar rewards to sequences, using the final token as a surrogate indicator for the quality of the entire…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

Imitation learning has achieved great success in many sequential decision-making tasks, in which a neural agent is learned by imitating collected human demonstrations. However, existing algorithms typically require a large number of…

Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation provides physically grounded data but is prohibitively…

Recent work has shown promising results for learning end-to-end robot policies using imitation learning. In this work we address the question of how far can we push imitation learning for challenging dexterous manipulation tasks. We show…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…