Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website $\href{https://robotics-transformer-x.github.io}{\text{robotics-transformer-x.github.io}}$.

GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields

It is a long-standing problem in robotics to develop agents capable of executing diverse manipulation tasks from visual observations in unstructured real-world environments. To achieve this goal, the robot needs to have a comprehensive understanding of the 3D structure and semantics of the scene. In this work, we present $\textbf{GNFactor}$, a visual behavior cloning agent for multi-task robotic manipulation with $\textbf{G}$eneralizable $\textbf{N}$eural feature $\textbf{F}$ields. GNFactor jointly optimizes a generalizable neural field (GNF) as a reconstruction module and a Perceiver Transformer as a decision-making module, leveraging a shared deep 3D voxel representation. To incorporate semantics in 3D, the reconstruction module utilizes a vision-language foundation model ($\textit{e.g.}$, Stable Diffusion) to distill rich semantic information into the deep 3D voxel. We evaluate GNFactor on 3 real robot tasks and perform detailed ablations on 10 RLBench tasks with a limited number of demonstrations. We observe a substantial improvement of GNFactor over current state-of-the-art methods in seen and unseen tasks, demonstrating the strong generalization ability of GNFactor. Our project website is https://yanjieze.com/GNFactor/ .

Elastic Decision Transformer

This paper introduces Elastic Decision Transformer (EDT), a significant advancement over the existing Decision Transformer (DT) and its variants. Although DT purports to generate an optimal trajectory, empirical evidence suggests it struggles with trajectory stitching, a process involving the generation of an optimal or near-optimal trajectory from the best parts of a set of sub-optimal trajectories. The proposed EDT differentiates itself by facilitating trajectory stitching during action inference at test time, achieved by adjusting the history length maintained in DT. Further, the EDT optimizes the trajectory by retaining a longer history when the previous trajectory is optimal and a shorter one when it is sub-optimal, enabling it to "stitch" with a more optimal trajectory. Extensive experimentation demonstrates EDT's ability to bridge the performance gap between DT-based and Q Learning-based approaches. In particular, the EDT outperforms Q Learning-based methods in a multi-task regime on the D4RL locomotion benchmark and Atari games. Videos are available at: https://kristery.github.io/edt/

Learning Generalizable Dexterous Manipulation from Human Grasp Affordance

Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned policy can hardly generalize to manipulate novel objects, given limited expert demonstrations. In this paper, we propose to learn dexterous manipulation using large-scale demonstrations with diverse 3D objects in a category, which are generated from a human grasp affordance model. This generalizes the policy to novel object instances within the same category. To train the policy, we propose a novel imitation learning objective jointly with a geometric representation learning objective using our demonstrations. By experimenting with relocating diverse objects in simulation, we show that our approach outperforms baselines with a large margin when manipulating novel objects. We also ablate the importance on 3D object representation learning for manipulation. We include videos, code, and additional information on the project website - https://kristery.github.io/ILAD/ .

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos

While we have made significant progress on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline, DexMV (Dexterous Manipulation from Videos), for imitation learning to bridge the gap between computer vision and robot learning. We design a platform with: (i) a simulation system for complex dexterous manipulation tasks with a multi-finger robot hand and (ii) a computer vision system to record large-scale demonstrations of a human hand conducting the same tasks. In our new pipeline, we extract 3D hand and object poses from the videos, and convert them to robot demonstrations via motion retargeting. We then apply and compare multiple imitation learning algorithms with the demonstrations. We show that the demonstrations can indeed improve robot learning by a large margin and solve the complex tasks which reinforcement learning alone cannot solve. Project page with video: https://yzqin.github.io/dexmv