Related papers: Geometric Projectors: Geometric Constraints based …
This work addresses the classic machine learning problem of online prediction with expert advice. A new potential-based framework for the fixed horizon version of this problem has been recently developed using verification arguments from…
Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
We introduce GeCo, a geometry-grounded metric for jointly detecting geometric deformation and occlusion-inconsistency artifacts in static scenes. By fusing residual motion and depth priors, GeCo produces interpretable, dense consistency…
Understanding the quality of a performance evaluation metric is crucial for ensuring that model outputs align with human preferences. However, it remains unclear how well each metric captures the diverse aspects of these preferences, as…
This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools. This work uses ergodicity as a control objective that…
Synthesizing controllable 6-DOF object manipulation trajectories in 3D environments is essential for enabling robots to interact with complex scenes, yet remains challenging due to the need for accurate spatial reasoning, physical…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Complex manipulation tasks can contain various execution branches of primitive skills in sequence or in parallel under different scenarios. Manual specifications of such branching conditions and associated skill parameters are not only…
Logic-Geometric Programming (LGP) is a powerful motion and manipulation planning framework, which represents hierarchical structure using logic rules that describe discrete aspects of problems, e.g., touch, grasp, hit, or push, and solves…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Program code serves as a bridge linking vision and logic, providing a feasible supervisory approach for enhancing the multimodal reasoning capability of large models through geometric operations such as auxiliary line construction and…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Daily manipulation tasks are characterized by geometric primitives related to actions and object shapes. Such geometric descriptors are poorly represented by only using Cartesian coordinate systems. In this paper, we propose a learning…
Despite tremendous progress in dexterous manipulation, current visuomotor policies remain fundamentally limited by two challenges: they struggle to generalize under perceptual or behavioral distribution shifts, and their performance is…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive…
We introduce a manifold-based framework for addressing optimization problems with equality and inequality constraints found in robotics. Our approach transforms the original problem into an unconstrained optimization problem directly on the…