SuSIE uses a finetuned InstructPix2Pix diffusion model to propose subgoal images that guide a low-level goal-conditioned policy, achieving SOTA zero-shot performance on CALVIN and real-world manipulation.
Liv: Language-image representations and rewards for robotic control
9 Pith papers cite this work. Polarity classification is still indexing.
9
Pith papers citing it
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. Exploiting a novel connection between dual reinforcement learning and mutual information contrastive learning, the LIV objective trains a multi-modal representation that implicitly encodes a universal value function for tasks specified as language or image goals. We use LIV to pre-train the first control-centric vision-language representation from large human video datasets such as EpicKitchen. Given only a language or image goal, the pre-trained LIV model can assign dense rewards to each frame in videos of unseen robots or humans attempting that task in unseen environments. Further, when some target domain-specific data is available, the same objective can be used to fine-tune and improve LIV and even other pre-trained representations for robotic control and reward specification in that domain. In our experiments on several simulated and real-world robot environments, LIV models consistently outperform the best prior input state representations for imitation learning, as well as reward specification methods for policy synthesis. Our results validate the advantages of joint vision-language representation and reward learning within the unified, compact LIV framework.
citation-role summary
method 1
citation-polarity summary
roles
method 1polarities
use method 1representative citing papers
PoLAR imposes radial structure on latent actions in hyperbolic space to factorize extent and mode, improving robot policy performance over baselines.
DO AS I DO reconstructs and retargets hand-object interactions from in-the-wild monocular RGB videos to produce dexterous robot manipulation trajectories, outperforming prior methods on ground-truth and online video datasets.
DeMiAn re-annotates robot and egocentric videos with VLM-generated dense labels across motion, scene, pose, and reasoning aspects, then uses a learned instructor to boost policy success by 5 points on RoboCasa over task-only baselines.
WARPED synthesizes realistic wrist-view observations from monocular egocentric human videos via foundation models, hand-object tracking, retargeting, and Gaussian Splatting to train visuomotor policies that match teleoperation success rates on five tabletop tasks with 5-8x less collection effort.
Video-to-robot control methods cluster into three interface families, and the field’s main bottleneck is grounding video-derived predictions into dependable closed-loop robot behavior.
Expecting over scoring-token logits yields continuous, scalable verification that improves agent trajectory selection and dense RL rewards across coding, robotics, and medical benchmarks.
VLM-AR3L learns absolute and relative reward models from VLM preference labels to improve RL on control, manipulation, and Minecraft tasks.
STDR infers stage structure from expert videos to supply stage-transition and within-stage progress rewards, improving RL sample efficiency on 14 manipulation tasks.
citing papers explorer
-
Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models
SuSIE uses a finetuned InstructPix2Pix diffusion model to propose subgoal images that guide a low-level goal-conditioned policy, achieving SOTA zero-shot performance on CALVIN and real-world manipulation.
-
PoLAR: Factorizing Extent and Mode in Latent Actions for Robot Policy Learning
PoLAR imposes radial structure on latent actions in hyperbolic space to factorize extent and mode, improving robot policy performance over baselines.
-
Do as I Do: Dexterous Manipulation Data from Everyday Human Videos
DO AS I DO reconstructs and retargets hand-object interactions from in-the-wild monocular RGB videos to produce dexterous robot manipulation trajectories, outperforming prior methods on ground-truth and online video datasets.
-
How to Instruct Your Robot: Dense Language Annotations Power Robot Policy Learning
DeMiAn re-annotates robot and egocentric videos with VLM-generated dense labels across motion, scene, pose, and reasoning aspects, then uses a learned instructor to boost policy success by 5 points on RoboCasa over task-only baselines.
-
WARPED: Wrist-Aligned Rendering for Robot Policy Learning from Egocentric Human Demonstrations
WARPED synthesizes realistic wrist-view observations from monocular egocentric human videos via foundation models, hand-object tracking, retargeting, and Gaussian Splatting to train visuomotor policies that match teleoperation success rates on five tabletop tasks with 5-8x less collection effort.
-
From Video to Control: A Survey of Learning Manipulation Interfaces from Temporal Visual Data
Video-to-robot control methods cluster into three interface families, and the field’s main bottleneck is grounding video-derived predictions into dependable closed-loop robot behavior.
-
LLM-as-a-Verifier: A General-Purpose Verification Framework
Expecting over scoring-token logits yields continuous, scalable verification that improves agent trajectory selection and dense RL rewards across coding, robotics, and medical benchmarks.
-
VLM-AR3L: Vision-Language Models for Absolute and Relative Rewards in Reinforcement Learning
VLM-AR3L learns absolute and relative reward models from VLM preference labels to improve RL on control, manipulation, and Minecraft tasks.
-
Stage-Transition Dense Reward Modeling for Reinforcement Learning
STDR infers stage structure from expert videos to supply stage-transition and within-stage progress rewards, improving RL sample efficiency on 14 manipulation tasks.