The human ability to learn, generalize, and control complex manipulation tasks through multi-
modality feedback suggests a unique capability, which we refer to as dexterity intelligence …

This paper introduces Diffusion Policy, a new way of generating robot behavior by
representing a robot's visuomotor policy as a conditional denoising diffusion process. We …

Large, high-capacity models trained on diverse datasets have shown remarkable successes
on efficiently tackling downstream applications. In domains from NLP to Computer Vision …

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 …

Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously
difficult for robots because they require precision, careful coordination of contact forces, and …

Building a robot that can understand and learn to interact by watching humans has inspired
several vision problems. However, despite some successful results on static datasets, it …

In this work, we present a scalable reinforcement learning method for training multi-task
policies from large offline datasets that can leverage both human demonstrations and …

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 …

Abstract We present Language-Image Value learning (LIV), a unified objective for vision-
language representation and reward learning from action-free videos with text annotations …

We introduce BridgeData V2, a large and diverse dataset of robotic manipulation behaviors
designed to facilitate research in scalable robot learning. BridgeData V2 contains 53,896 …