相关论文: A Vision-Guided Multi-Robot Cooperation Framework …

Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…

The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…

A novel concept of vision-based intelligent control of robotic arms is developed here in this work. This work enables the controlling of robotic arms motion only with visual inputs, that is, controlling by showing the videos of correct…

This study presents a control framework leveraging vision language models (VLMs) for multiple tasks and robots. Notably, existing control methods using VLMs have achieved high performance in various tasks and robots in the training…

One of the most efficient ways for a learning-based robotic arm to learn to process complex tasks as human, is to directly learn from observing how human complete those tasks, and then imitate. Our idea is based on success of Deep…

Robots that can execute various tasks automatically on behalf of humans are becoming an increasingly important focus of research in the field of robotics. Imitation learning has been studied as an efficient and high-performance method, and…

Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…

This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…

It is still challenging to build an AI system that can perform tasks that involve vision and language at human level. So far, researchers have singled out individual tasks separately, for each of which they have designed networks and…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

In practical applications, computer vision tasks often need to be addressed simultaneously. Multitask learning typically achieves this by jointly training a single deep neural network to learn shared representations, providing efficiency…

Learning from human video demonstrations offers a scalable alternative to teleoperation or kinesthetic teaching, but poses challenges for robot manipulators due to embodiment differences and joint feasibility constraints. We address this…

We present a novel motion generation approach for robot arms, with high degrees of freedom, in complex settings that can adapt online to obstacles or new via points. Learning from Demonstration facilitates rapid adaptation to new tasks and…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

A seamless integration of robots into human environments requires robots to learn how to use existing human tools. Current approaches for learning tool manipulation skills mostly rely on expert demonstrations provided in the target robot…