相关论文: Point Tracking Improves World Action Models

We seek to learn a generalizable goal-conditioned policy that enables zero-shot robot manipulation: interacting with unseen objects in novel scenes without test-time adaptation. While typical approaches rely on a large amount of…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…

Perspective-taking is the ability to perceive or understand a situation or concept from another individual's point of view, and is crucial in daily human interactions. Enabling robots to perform perspective-taking remains an unsolved…

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Comprehensive understanding of dynamic scenes is a critical prerequisite for intelligent robots to autonomously operate in their environment. Research in this domain, which encompasses diverse perception problems, has primarily been focused…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…

One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to…

We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…

Teaching robots to autonomously complete everyday tasks remains a challenge. Imitation Learning (IL) is a powerful approach that imbues robots with skills via demonstrations, but is limited by the labor-intensive process of collecting…

Learning transferable latent actions from large-scale object manipulation videos can significantly enhance generalization in downstream robotics tasks, as such representations are agnostic to different robot embodiments. Existing approaches…

Visual odometry estimates the motion of a moving camera based on visual input. Existing methods, mostly focusing on two-view point tracking, often ignore the rich temporal context in the image sequence, thereby overlooking the global motion…

Diffusion models have demonstrated remarkable capabilities in image generation tasks, including image editing and video creation, representing a good understanding of the physical world. On the other line, diffusion models have also shown…

We present a novel approach for hand-object action recognition that leverages 2D point tracks as an additional motion cue. While most existing methods rely on RGB appearance, human pose estimation, or their combination, our work…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

World Models (WMs) have emerged as a promising approach for post-training Vision-Language-Action (VLA) policies to improve robustness and generalization under environmental changes. However, most WM-based post-training methods rely on…

One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, dynamics are…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…