Reinforcement Learning (RL) has achieved tremendous success in many complex decision-
making tasks. However, safety concerns are raised during deploying RL in real-world …

There has been an emerging paradigm shift from the era of “internet AI” to “embodied AI,”
where AI algorithms and agents no longer learn from datasets of images, videos or text …

We present a framework for robot skill acquisition, which 1) efficiently scale up data
generation of language-labelled robot data and 2) effectively distills this data down into a …

The study of zero-shot generalisation (ZSG) in deep Reinforcement Learning (RL) aims to
produce RL algorithms whose policies generalise well to novel unseen situations at …

Large vision-language models (VLMs) have achieved substantial progress in multimodal
perception and reasoning. When integrated into an embodied agent, existing embodied …

We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered
robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an …

The grand aim of having a single robot that can manipulate arbitrary objects in diverse
settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets …

This paper shows that self-supervised visual pre-training from real-world images is effective
for learning motor control tasks from pixels. We first train the visual representations by …

Imitating human demonstrations is a promising approach to endow robots with various
manipulation capabilities. While recent advances have been made in imitation learning and …

Achieving human-level dexterity is an important open problem in robotics. However, tasks of
dexterous hand manipulation even at the baby level are challenging to solve through …