7 papers
4D Visual Pre-training for Robot Learning
Chengkai Hou, Yanjie Ze, Yankai Fu +5
General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation task…
Unleashing the Power of Pre-trained Language Models for Offline Reinforcement Learning
Ruizhe Shi, Yuyao Liu, Yanjie Ze +2
Offline reinforcement learning (RL) aims to find a near-optimal policy using pre-collected datasets. In real-world scenarios, data collection could be costly and risky; therefore,…
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
Yanjie Ze, Gu Zhang, Kangning Zhang +3
Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human…
Catch It! Learning to Catch in Flight with Mobile Dexterous Hands
Yuanhang Zhang, Tianhai Liang, Zhenyang Chen +2
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and…
Diffusion Reward: Learning Rewards via Conditional Video Diffusion
Tao Huang, Guangqi Jiang, Yanjie Ze +1
Learning rewards from expert videos offers an affordable and effective solution to specify the intended behaviors for reinforcement learning (RL) tasks. In this work, we propose Di…
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
Zhengmao He, Kun Lei, Yanjie Ze +3
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in re…