Related papers: R2RGEN: Real-to-Real 3D Data Generation for Spatia…
Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…
Building generic robotic manipulation systems often requires large amounts of real-world data, which can be dificult to collect. Synthetic data generation offers a promising alternative, but limiting the sim-to-real gap requires significant…
Many Reinforcement Learning (RL) approaches use joint control signals (positions, velocities, torques) as action space for continuous control tasks. We propose to lift the action space to a higher level in the form of subgoals for a motion…
We address the problem of generating a 3D-consistent, navigable environment that is spatially grounded: a simulation of a real location. Existing video generative models can produce a plausible sequence that is consistent with a text (T2V)…
Diffusion models have significantly mitigated the impact of annotated data scarcity in remote sensing (RS). Although recent approaches have successfully harnessed these models to enable diverse and controllable Layout-to-Image (L2I)…
Long-horizon manipulation has been a long-standing challenge in the robotics community. We propose ReinforceGen, a system that combines task decomposition, data generation, imitation learning, and motion planning to form an initial…
Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…
We introduce 3inGAN, an unconditional 3D generative model trained from 2D images of a single self-similar 3D scene. Such a model can be used to produce 3D "remixes" of a given scene, by mapping spatial latent codes into a 3D volumetric…
We present RadarGen, a diffusion model for synthesizing realistic automotive radar point clouds from multi-view camera imagery. RadarGen adapts efficient image-latent diffusion to the radar domain by representing radar measurements in…
This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…
Understanding the temporal dynamics of Earth's surface is a mission of multi-temporal remote sensing image analysis, significantly promoted by deep vision models with its fuel -- labeled multi-temporal images. However, collecting,…
Sim-to-Real refers to the process of transferring policies learned in simulation to the real world, which is crucial for achieving practical robotics applications. However, recent Sim2real methods either rely on a large amount of augmented…
Rendering 3D human appearance from a single image in real-time is crucial for achieving holographic communication and immersive VR/AR. Existing methods either rely on multi-camera setups or are constrained to offline operations. In this…
Generative video modeling has emerged as a compelling tool to zero-shot reason about plausible physical interactions for open-world manipulation. Yet, it remains a challenge to translate such human-led motions into the low-level actions…
We introduce C-GenReg, a training-free framework for 3D point cloud registration that leverages the complementary strengths of world-scale generative priors and registration-oriented Vision Foundation Models (VFMs). Current learning-based…
Two-dimensional array-based datasets are pervasive in a variety of domains. Current approaches for generative modeling have typically been limited to conventional image datasets and performed in the pixel domain which do not explicitly…
Recent 3D generative models, which are capable of generating full object shapes from just a few images, now open up new opportunities in robotics. In this work, we show that 3D generative models can be used to augment a dataset from a…
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…
Simulation is increasingly being used for generating large labelled datasets in many machine learning problems. Recent methods have focused on adjusting simulator parameters with the goal of maximising accuracy on a validation task, usually…
Due to the difficulty of acquiring extensive real-world data, robot simulation has become crucial for parallel training and sim-to-real transfer, highlighting the importance of scalable simulated robotic tasks. Foundation models have…