SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots new skills, large amounts of expert demonstration data are still indispensible for these complex tasks, resulting in high sample complexity and costly data collection. To address this, we propose Semantic Keypoint Imitation Learning (SKIL), a framework which automatically obtain semantic keypoints with help of vision foundation models, and forms the descriptor of semantic keypoints that enables effecient imitation learning of complex robotic tasks with significantly lower sample complexity. In real world experiments, SKIL doubles the performance of baseline methods in tasks such as picking a cup or mouse, while demonstrating exceptional robustness to variations in objects, environmental changes, and distractors. For long-horizon tasks like hanging a towel on a rack where previous methods fail completely, SKIL achieves a mean success rate of 70\% with as few as 30 demonstrations. Furthermore, SKIL naturally supports cross-embodiment learning due to its semantic keypoints abstraction, our experiments demonstrate that even human videos bring considerable improvement to the learning performance. All these results demonstrate the great success of SKIL in achieving data-efficint generalizable robotic learning. Visualizations and code are available at: https://skil-robotics.github.io/SKIL-robotics/.

RoboHorizon: An LLM-Assisted Multi-View World Model for Long-Horizon Robotic Manipulation

Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL) has shown great potential in addressing these challenges but still faces notable limitations, particularly in handling sparse rewards and complex visual features in long-horizon environments. To address these limitations, we propose the Recognize-Sense-Plan-Act (RSPA) pipeline for long-horizon tasks and further introduce RoboHorizon, an LLM-assisted multi-view world model tailored for long-horizon robotic manipulation. In RoboHorizon, pre-trained LLMs generate dense reward structures for multi-stage sub-tasks based on task language instructions, enabling robots to better recognize long-horizon tasks. Keyframe discovery is then integrated into the multi-view masked autoencoder (MAE) architecture to enhance the robot's ability to sense critical task sequences, strengthening its multi-stage perception of long-horizon processes. Leveraging these dense rewards and multi-view representations, a robotic world model is constructed to efficiently plan long-horizon tasks, enabling the robot to reliably act through RL algorithms. Experiments on two representative benchmarks, RLBench and FurnitureBench, show that RoboHorizon outperforms state-of-the-art visual model-based RL methods, achieving a 23.35% improvement in task success rates on RLBench's 4 short-horizon tasks and a 29.23% improvement on 6 long-horizon tasks from RLBench and 3 furniture assembly tasks from FurnitureBench.

SOLAMI: Social Vision-Language-Action Modeling for Immersive Interaction with 3D Autonomous Characters

Human beings are social animals. How to equip 3D autonomous characters with similar social intelligence that can perceive, understand and interact with humans remains an open yet foundamental problem. In this paper, we introduce SOLAMI, the first end-to-end Social vision-Language-Action (VLA) Modeling framework for Immersive interaction with 3D autonomous characters. Specifically, SOLAMI builds 3D autonomous characters from three aspects: (1) Social VLA Architecture: We propose a unified social VLA framework to generate multimodal response (speech and motion) based on the user's multimodal input to drive the character for social interaction. (2) Interactive Multimodal Data: We present SynMSI, a synthetic multimodal social interaction dataset generated by an automatic pipeline using only existing motion datasets to address the issue of data scarcity. (3) Immersive VR Interface: We develop a VR interface that enables users to immersively interact with these characters driven by various architectures. Extensive quantitative experiments and user studies demonstrate that our framework leads to more precise and natural character responses (in both speech and motion) that align with user expectations with lower latency.

Distractor-free Generalizable 3D Gaussian Splatting

We present DGGS, a novel framework addressing the previously unexplored challenge of Distractor-free Generalizable 3D Gaussian Splatting (3DGS). It accomplishes two key objectives: fortifying generalizable 3DGS against distractor-laden data during both training and inference phases, while successfully extending cross-scene adaptation capabilities to conventional distractor-free approaches. To achieve these objectives, DGGS introduces a scene-agnostic reference-based mask prediction and refinement methodology during training phase, coupled with a training view selection strategy, effectively improving distractor prediction accuracy and training stability. Moreover, to address distractor-induced voids and artifacts during inference stage, we propose a two-stage inference framework for better reference selection based on the predicted distractor masks, complemented by a distractor pruning module to eliminate residual distractor effects. Extensive generalization experiments demonstrate DGGS's advantages under distractor-laden conditions. Additionally, experimental results show that our scene-agnostic mask inference achieves accuracy comparable to scene-specific trained methods. Homepage is \url{https://github.com/bbbbby-99/DGGS}.

SRA-MCTS: Self-driven Reasoning Augmentation with Monte Carlo Tree Search for Code Generation

Large language models demonstrate exceptional performance in simple code generation tasks but still face challenges in tackling complex problems. These challenges may stem from insufficient reasoning and problem decomposition capabilities. To address this issue, we propose a reasoning-augmented data generation process, SRA-MCTS, which guides the model to autonomously generate high-quality intermediate reasoning paths. This creates a positive feedback loop, enabling continuous improvement. Our method operates entirely through the model itself without requiring additional supervision. By synthesizing natural language reasoning paths and translating them into executable code, the approach ensures analytical accuracy and enhances the success rate in solving complex tasks. Experimental results show that, even without additional supervisory signals, our method achieves performance improvements across different model scales, demonstrating the significant potential of self-improvement in small models. Furthermore, the method remains robust when traditional Chain-of-Thought (CoT) approaches exhibit performance degradation, with notable improvements observed in diversity metrics such as pass@10. We encourage further exploration of reasoning processes within training data to enhance the ability of language models to address complex problems.

PSPO*: An Effective Process-supervised Policy Optimization for Reasoning Alignment

Process supervision enhances the performance of large language models in reasoning tasks by providing feedback at each step of chain-of-thought reasoning. However, due to the lack of effective process supervision methods, even advanced large language models are prone to logical errors and redundant reasoning. We claim that the effectiveness of process supervision significantly depends on both the accuracy and the length of reasoning chains. Moreover, we identify that these factors exhibit a nonlinear relationship with the overall reward score of the reasoning process. Inspired by these insights, we propose a novel process supervision paradigm, PSPO*, which systematically outlines the workflow from reward model training to policy optimization, and highlights the importance of nonlinear rewards in process supervision. Based on PSPO*, we develop the PSPO-WRS, which considers the number of reasoning steps in determining reward scores and utilizes an adjusted Weibull distribution for nonlinear reward shaping. Experimental results on six mathematical reasoning datasets demonstrate that PSPO-WRS consistently outperforms current mainstream models.

Reviving Dormant Memories: Investigating Catastrophic Forgetting in Language Models through Rationale-Guidance Difficulty

Although substantial efforts have been made to mitigate catastrophic forgetting in continual learning, the intrinsic mechanisms are not well understood. In this paper, we discover that when a forgetting model passively receives an externally provided partial appropriate rationale, its performance on the forgotten task can be restored. Furthermore, by simply adding a task-agnostic prefix to the original instruction, the forgetting model can actively generate an appropriate rationale to reach the correct answer. These findings suggest that the model does not actually ``forget'' the task knowledge; instead, the degraded performance can be attributed to the failure of the original instructions in guiding the model to generate the appropriate rationales. Based on this insight, we propose the Rationale-Guidance Difficulty metric to evaluate how effectively a given instruction guides the model in generating appropriate rationales. We apply this metric to optimize the allocation of replay data in replay-based continual learning algorithm. Experimental results demonstrate that our data allocation method effectively mitigates catastrophic forgetting and maintains better model plasticity simultaneously across models.

METEOR: Evolutionary Journey of Large Language Models from Guidance to Self-Growth

Model evolution enables learning from feedback to refine experiences and update skills, transforming models from having no domain knowledge to becoming domain experts. However, there is currently no unified and effective method for guiding this evolutionary process. To address this gap, we propose the Meteor method, which includes three training phases: weak-to-strong data distillation, iterative training, and self-evolution strategies. Each phase maximizes the model's inherent domain capabilities, allowing it to autonomously refine its domain knowledge and enhance performance. Experiments demonstrate that our approach significantly improves accuracy, completeness, relevance, coherence, and reliability across domain-specific tasks.

UniHOI: Learning Fast, Dense and Generalizable 4D Reconstruction for Egocentric Hand Object Interaction Videos

Egocentric Hand Object Interaction (HOI) videos provide valuable insights into human interactions with the physical world, attracting growing interest from the computer vision and robotics communities. A key task in fully understanding the geometry and dynamics of HOI scenes is dense pointclouds sequence reconstruction. However, the inherent motion of both hands and the camera makes this challenging. Current methods often rely on time-consuming test-time optimization, making them impractical for reconstructing internet-scale videos. To address this, we introduce UniHOI, a model that unifies the estimation of all variables necessary for dense 4D reconstruction, including camera intrinsic, camera poses, and video depth, for egocentric HOI scene in a fast feed-forward manner. We end-to-end optimize all these variables to improve their consistency in 3D space. Furthermore, our model could be trained solely on large-scale monocular video dataset, overcoming the limitation of scarce labeled HOI data. We evaluate UniHOI with both in-domain and zero-shot generalization setting, surpassing all baselines in pointclouds sequence reconstruction and long-term 3D scene flow recovery. UniHOI is the first approach to offer fast, dense, and generalizable monocular egocentric HOI scene reconstruction in the presence of motion. Code and trained model will be released in the future.

Multi-Transmotion: Pre-trained Model for Human Motion Prediction

The ability of intelligent systems to predict human behaviors is crucial, particularly in fields such as autonomous vehicle navigation and social robotics. However, the complexity of human motion have prevented the development of a standardized dataset for human motion prediction, thereby hindering the establishment of pre-trained models. In this paper, we address these limitations by integrating multiple datasets, encompassing both trajectory and 3D pose keypoints, to propose a pre-trained model for human motion prediction. We merge seven distinct datasets across varying modalities and standardize their formats. To facilitate multimodal pre-training, we introduce Multi-Transmotion, an innovative transformer-based model designed for cross-modality pre-training. Additionally, we present a novel masking strategy to capture rich representations. Our methodology demonstrates competitive performance across various datasets on several downstream tasks, including trajectory prediction in the NBA and JTA datasets, as well as pose prediction in the AMASS and 3DPW datasets. The code is publicly available: https://github.com/vita-epfl/multi-transmotion