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We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos.
Contextual action recognition with r* cnn
Georgia Gkioxari, Ross Girshick, and Jitendra Malik · 2015
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The kit motion-language dataset
Matthias Plappert, Christian Mandery, and Tamim Asfour · 2016
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Learning models for actions and person-object interactions with transfer to question answering
Arun Mallya and Svetlana Lazebnik · 2016
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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Neural discrete representation learning
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, and Sergey Levine · 2017
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Embodied hands: Modeling and capturing hands and bodies together
Javier Romero, Dimitrios Tzionas, and Michael J. Black · 2017
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3d pose regression using convolutional neural networks
Siddharth Mahendran, Haider Ali, and René Vidal · 2017
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Improving language understanding by generative pre-training
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Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, et al · 2018
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Detecting and recognizing human-object interactions
Georgia Gkioxari, Ross Girshick, Piotr Dollár, and Kaiming He · 2018
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Learning human-object interactions by graph parsing neural networks
Siyuan Qi, Wenguan Wang, Baoxiong Jia, Jianbing Shen, and Song-Chun Zhu · 2018
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First-person hand action benchmark with rgb-d videos and 3d hand pose annotations
Guillermo Garcia-Hernando, Shanxin Yuan, Seungryul Baek, and Tae-Kyun Kim · 2018
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Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, Ilya Sutskever, et al · 2019
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Amass: Archive of motion capture as surface shapes
Naureen Mahmood, Nima Ghorbani, Nikolaus F Troje, Gerard Pons-Moll, and Michael J Black · 2019
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Expressive body capture: 3d hands, face, and body from a single image
Georgios Pavlakos, Vasileios Choutas, Nima Ghorbani, Timo Bolkart, Ahmed AA Osman, Dimitrios Tzionas, and Michael J Black · 2019
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Learning joint reconstruction of hands and manipulated objects
Yana Hasson, Gul Varol, Dimitrios Tzionas, Igor Kalevatykh, Michael J Black, Ivan Laptev, and Cordelia Schmid · 2019
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Contactdb: Analyzing and predicting grasp contact via thermal imaging
Samarth Brahmbhatt, Cusuh Ham, Charles C Kemp, and James Hays · 2019
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Yannick Bukschat and Marcus Vetter · 2020
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Integrated linkage-driven dexterous anthropomorphic robotic hand
Uikyum Kim, Dawoon Jung, Heeyoen Jeong, Jongwoo Park, Hyun-Mok Jung, Joono Cheong, Hyouk Ryeol Choi, Hyunmin Do, and Chanhun Park · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Babel: Bodies, action and behavior with english labels
Abhinanda R Punnakkal, Arjun Chandrasekaran, Nikos Athanasiou, Alejandra Quiros-Ramirez, and Michael J Black · 2021
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Hand-object contact consistency reasoning for human grasps generation
Hanwen Jiang, Shaowei Liu, Jiashun Wang, and Xiaolong Wang · 2021
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H2o: Two hands manipulating objects for first person interaction recognition
Taein Kwon, Bugra Tekin, Jan Stühmer, Federica Bogo, and Marc Pollefeys · 2021
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Dexycb: A benchmark for capturing hand grasping of objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, et al · 2021
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Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Autoregressive image generation using residual quantization
Doyup Lee, Chiheon Kim, Saehoon Kim, Minsu Cho, and Wook-Shin Han · 2022
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Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, et al · 2022
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Generating diverse and natural 3d human motions from text
Chuan Guo, Shihao Zou, Xinxin Zuo, Sen Wang, Wei Ji, Xingyu Li, and Li Cheng · 2022
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Egobody: Human body shape and motion of interacting people from head-mounted devices
Siwei Zhang, Qianli Ma, Yan Zhang, Zhiyin Qian, Taein Kwon, Marc Pollefeys, Federica Bogo, and Siyu Tang · 2022
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Guy Tevet, Sigal Raab, Brian Gordon, Yonatan Shafir, Daniel Cohen-Or, and Amit H Bermano · 2022
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Locally hierarchical auto-regressive modeling for image generation
Tackgeun You, Saehoon Kim, Chiheon Kim, Doyup Lee, and Bohyung Han · 2022
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Joint hand motion and interaction hotspots prediction from egocentric videos
Shaowei Liu, Subarna Tripathi, Somdeb Majumdar, and Xiaolong Wang · 2022
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Hoi4d: A 4d egocentric dataset for category-level human-object interaction
Yunze Liu, Yun Liu, Che Jiang, Kangbo Lyu, Weikang Wan, Hao Shen, Boqiang Liang, Zhoujie Fu, He Wang, and Li Yi · 2022
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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, and He Wang · 2022
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Review on human-like robot manipulation using dexterous hands
Suhas Kadalagere Sampath, Ning Wang, Hao Wu, and Chenguang Yang · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, et al · 2023
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Unidexgrasp++: Improving dexterous grasping policy learning via geometry-aware curriculum and iterative generalist-specialist learning
Weikang Wan, Haoran Geng, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, and He Wang · 2023
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Real-world robot learning with masked visual pre-training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, and Trevor Darrell · 2023
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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Hifi-codec: Group-residual vector quantization for high fidelity audio codec
Dongchao Yang, Songxiang Liu, Rongjie Huang, Jinchuan Tian, Chao Weng, and Yuexian Zou · 2023
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Minigpt-4: Enhancing vision-language understanding with advanced large language models
Deyao Zhu, Jun Chen, Xiaoqian Shen, Xiang Li, and Mohamed Elhoseiny · 2023
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Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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Llama 2: Open foundation and fine-tuned chat models
Hugo Touvron, Louis Martin, Kevin Stone, Peter Albert, Amjad Almahairi, Yasmine Babaei, Nikolay Bashlykov, Soumya Batra, Prajjwal Bhargava, Shruti Bhosale, et al · 2023
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Jinze Bai, Shuai Bai, Yunfei Chu, Zeyu Cui, Kai Dang, Xiaodong Deng, Yang Fan, Wenbin Ge, Yu Han, Fei Huang, et al · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
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An empirical study of scaling instruct-tuned large multimodal models
Yadong Lu, Chunyuan Li, Haotian Liu, Jianwei Yang, Jianfeng Gao, and Yelong Shen · 2023
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Ferret: Refer and ground anything anywhere at any granularity
Haoxuan You, Haotian Zhang, Zhe Gan, Xianzhi Du, Bowen Zhang, Zirui Wang, Liangliang Cao, Shih-Fu Chang, and Yinfei Yang · 2023
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Steve-eye: Equipping llm-based embodied agents with visual perception in open worlds
Sipeng Zheng, Jiazheng Liu, Yicheng Feng, and Zongqing Lu · 2023
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Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 2023
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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Motion-x: A large-scale 3d expressive whole-body human motion dataset
Jing Lin, Ailing Zeng, Shunlin Lu, Yuanhao Cai, Ruimao Zhang, Haoqian Wang, and Lei Zhang · 2023
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Smpl: A skinned multi-person linear model
Matthew Loper, Naureen Mahmood, Javier Romero, Gerard Pons-Moll, and Michael J Black · 2023
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Executing your commands via motion diffusion in latent space
Xin Chen, Biao Jiang, Wen Liu, Zilong Huang, Bin Fu, Tao Chen, and Gang Yu · 2023
Rdt-1b: a diffusion foundation model for bimanual manipulation
Songming Liu, Lingxuan Wu, Bangguo Li, Hengkai Tan, Huayu Chen, Zhengyi Wang, Ke Xu, Hang Su, and Jun Zhu · 2024
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Egomimic: Scaling imitation learning via egocentric video
Simar Kareer, Dhruv Patel, Ryan Punamiya, Pranay Mathur, Shuo Cheng, Chen Wang, Judy Hoffman, and Danfei Xu · 2024
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Hand-object interaction pretraining from videos
Himanshu Gaurav Singh, Antonio Loquercio, Carmelo Sferrazza, Jane Wu, Haozhi Qi, Pieter Abbeel, and Jitendra Malik · 2024
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Vividex: Learning vision-based dexterous manipulation from human videos
Zerui Chen, Shizhe Chen, Etienne Arlaud, Ivan Laptev, and Cordelia Schmid · 2024
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Physdiff: Physics-guided human motion diffusion model
Ye Yuan, Jiaming Song, Umar Iqbal, Arash Vahdat, and Jan Kautz · 2023
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Remodiffuse: Retrieval-augmented motion diffusion model
Mingyuan Zhang, Xinying Guo, Liang Pan, Zhongang Cai, Fangzhou Hong, Huirong Li, Lei Yang, and Ziwei Liu · 2023
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Diversemotion: Towards diverse human motion generation via discrete diffusion
Yunhong Lou, Linchao Zhu, Yaxiong Wang, Xiaohan Wang, and Yi Yang · 2023
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Generating human motion from textual descriptions with discrete representations
Jianrong Zhang, Yangsong Zhang, Xiaodong Cun, Yong Zhang, Hongwei Zhao, Hongtao Lu, Xi Shen, and Ying Shan · 2023
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Humantomato: Text-aligned whole-body motion generation
Shunlin Lu, Ling-Hao Chen, Ailing Zeng, Jing Lin, Ruimao Zhang, Lei Zhang, and Heung-Yeung Shum · 2023
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Finite scalar quantization: Vq-vae made simple
Fabian Mentzer, David Minnen, Eirikur Agustsson, and Michael Tschannen · 2023
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Language model beats diffusion–tokenizer is key to visual generation
Lijun Yu, José Lezama, Nitesh B Gundavarapu, Luca Versari, Kihyuk Sohn, David Minnen, Yong Cheng, Vighnesh Birodkar, Agrim Gupta, Xiuye Gu, et al · 2023
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Bohan Zhou, Haoqi Yuan, Yuhui Fu, and Zongqing Lu · 2024
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Zhe Chen, Weiyun Wang, Yue Cao, Yangzhou Liu, Zhangwei Gao, Erfei Cui, Jinguo Zhu, Shenglong Ye, Hao Tian, Zhaoyang Liu, et al · 2024
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How far are we to gpt-4v? closing the gap to commercial multimodal models with open-source suites
Zhe Chen, Weiyun Wang, Hao Tian, Shenglong Ye, Zhangwei Gao, Erfei Cui, Wenwen Tong, Kongzhi Hu, Jiapeng Luo, Zheng Ma, et al · 2024
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Robopoint: A vision-language model for spatial affordance prediction for robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2024
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3dsrbench: A comprehensive 3d spatial reasoning benchmark
Wufei Ma, Haoyu Chen, Guofeng Zhang, Yu-Cheng Chou, Celso M de Melo, and Alan Yuille · 2024
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Taco: Benchmarking generalizable bimanual tool-action-object understanding
Yun Liu, Haolin Yang, Xu Si, Ling Liu, Zipeng Li, Yuxiang Zhang, Yebin Liu, and Li Yi · 2024
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators
Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, and Pieter Abbeel · 2024
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Human-like dexterous manipulation for anthropomorphic five-fingered hands: A review
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Dexvlg: Dexterous vision-language-grasp model at scale
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Gr00t n1: An open foundation model for generalist humanoid robots
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization
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Being-0: A humanoid robotic agent with vision-language models and modular skills
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