Foundation Models in Robotics: Applications, Challenges, and the Future [Paper][Code] 该文是Standford, Princeton, UT Austin(得克萨斯大学奥斯汀分校), Nvidia, Scaled Foundations, Google DeepMind, TU Berlin(柏林工业大学), 上海交大等学校的研究机构研究者们的协作的综述性质的文章,介绍了目前Foundation Mode...
基于基础模型的机器人感知任务(Perception Tasks in Robotics Enhanced by Foundation Models):这部分研究了各种可以通过使用基础模型进行增强的机器人感知任务,包括语义分割、3D场景表示、零样本3D分类、可操作性预测和动态预测。 具身AI代理、通用AI代理以及相关模拟器和基准(Embodied AI Agents, Generalist AI Agents, a...
A large driving force behind the tsunami of progress in 2023 has been the proliferation of Foundation Models, both as a technology but also as a research philosophy. As a technology, robotics breakthroughs incorporated specific models (GPT-3, PaLI, PaLM), the learning algorithms/architectural compo...
输入模型的特征应该具有统一的表示(representation),如果下游任务的表示空间是异质的(比如 ID-Based Recommendation)且不同空间的表示之间的对齐操作困难,那么就不会产生 Foundation Models。 尽管在这篇技术报告中也提及了具身智能(Embodied Intelligence)和机器人(Robotics)方向的基础模型研究,但当前 Foundation Model 的研...
A large driving force behind the tsunami of progress in 2023 has been the proliferation of Foundation Models, both as a technology but also as a research philosophy. As a technology, robotics breakthroughs incorporated specific models (GPT-3, PaLI, PaLM), the learning algorithms/architectural compo...
However, recent work on high-capacity models in robotics has shown promise towards being trained on large collections of diverse and task-agnostic datasets of video demonstrations. These models have shown impressive levels of generalization to unseen circumstances, especially as the amount of data and...
2.2 FM Macro Typologies for Robotics FMs have the potential to unlock new possibilities in the robotics domain. Among FMs, a subclass of pre-trained models can be utilized to improve various tasks such as perception, prediction, planning, and control: ...
Awesome-Robotics-Foundation-ModelsThis is the partner repository for the survey paper "Foundation Models in Robotics: Applications, Challenges, and the Future". The authors hope this repository can act as a quick reference for roboticists who wish to read the relevant papers and implement the asso...
Although there are significant differences between text data (which is available in large quantities) and robot data (which is hard to get and varies per robot), it looks like a new era of large robotics foundation models is dawning. Several other large players have been developing multimodal ...
However, unlike large language models, which thrive on vast amounts of data, robotic foundation models face a critical challenge: the scarcity of high-quality, diverse robotic data. This limitation makes it difficult to directly replicate the success of language models in the robotics domain. In ...