Recent interesting robotics papers
Instant Policy: In-Context Imitation Learning via Graph Diffusion

- formulate in-context imitation learning as a graph generation problem
- demonstrate impressive one-shot learning performance

#ICLR2025 #manipulation #in_context

X Overview, Project Website
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Edward Johns (@Ed__Johns)
Happy to announce that "Instant Policy" was accepted at ICLR 2025!

Below is a single uncut video: the robot is learning several novel tasks instantly, after just one demonstration each ...

We've achieved in-context learning in robotics!

http://www.robot…
ICLR2025 manipulation in_context
Vision Language Models are In-Context Value Learners

- formulating value learning as an autoregressive prediction task over shuffled sequence of the input video
- suitable across different tasks and in-context learning

#ICLR2025 #manipulation #in_context

X Overview, Project Website
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Jason Ma (@JasonMa2020)
Excited to finally share Generative Value Learning (GVL), my @GoogleDeepMind project on extracting universal value functions from long-context VLMs via in-context learning!

We discovered a simple method to generate zero-shot and few-shot values for 300+…
ICLR2025 manipulation in_context
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels

- detailed analysis of co-training on DP sim-and-real

#arxiv #manipulation

X Overview, Arxiv Link
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Adam Wei (@adamwei_)
Adam Wei (@adamwei_)
Learning from both sim+real data could scale robot imitation learning. But what are the scaling laws & principles of sim+real cotraining?

We study this in the first focused analysis of sim+real cotraining spanning 250+ policies & 40k+ evals https://arxi…
arxiv manipulation
BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics

- insightful idea of using neural dynamics to assist planning

#ICLR2025 #manipulation

X Overview, Project Website
🧵 Thread • FixupX
Keyi (@Keyi_Shen_)
🎯Can robots do better on planning involving neural dynamics?

Introducing our recent work, BaB-ND: https://robopil.github.io/bab-nd/.

Existing sampling- and gradient-based methods may fail short on complex planning problems over non-convex neural dynamics…
ICLR2025 manipulation
π0.5: a VLA with Open-World Generalization

- following work of pi-0
- utilize co-train and use VLM to identify low-level tasks from high-level command

#arxiv #manipulation

X Overview, Project Website, pi-0
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Chelsea Finn (@chelseabfinn)
Introducing π-0.5!

The model works out of the box in completely new environments.

Here the robot cleans new kitchens & bedrooms. 🤖

Detailed paper + videos in more than 10 unseen rooms:
http://physicalintelligence.company/blog/pi05

A short thread 🧵
arxiv manipulation
 
 
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