Robot Learning from Any Images (original) (raw)

Any Image Sources

Single-Image Imitation Learning

Manipulation in
Clutted Scenes

RoLA-Generated Data @ Sim

Vision-Language-Action Models

Pick up the yellow banana.

Put the yellow lemon beside the green apple.

Take the grey object beside the lemon and place it beside the yellow apple.

Manipulation Prior from Internet Images

Using apple picking as an example, we collect diverse internet images containing apples to train an image-based grasping prior.

We perform real-world evaluations on apples of varying colors, sizes, types, and positions.

Citation

If you find our work useful, please consider citing:

@inproceedings{rola, title={Robot learning from any images}, author={Zhao, Siheng and Mao, Jiageng and Chow, Wei and Shangguan, Zeyu and Shi, Tianheng and Xue, Rong and Zheng, Yuxi and Weng, Yijia and You, Yang and Seita, Daniel and others}, booktitle={Conference on Robot Learning}, pages={4226--4245}, year={2025}, organization={PMLR} }