相关论文: Transferring End-to-End Visuomotor Control from Si…

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

Real-world robotic tasks stretch over extended horizons and encompass multiple stages. Learning long-horizon manipulation tasks, however, is a long-standing challenge, and demands decomposing the overarching task into several manageable…

To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…

Image compression is one of the most fundamental techniques and commonly used applications in the image and video processing field. Earlier methods built a well-designed pipeline, and efforts were made to improve all modules of the pipeline…

Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After presenting a multi-stage pick-and-place task as a succinct…

We present a method for synthesizing naturally looking images of multiple people interacting in a specific scenario. These images benefit from the advantages of synthetic data: being fully controllable and fully annotated with any type of…

In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

End-to-end learning directly maps sensory inputs to actions, creating highly integrated and efficient policies for complex robotics tasks. However, such models often struggle to generalize beyond their training scenarios, limiting…

In deployment of the VLA models to real-world robotic tasks, execution speed matters. In previous work arXiv:2510.26742 we analyze how to make neural computation of VLAs on GPU fast. However, we leave the question of how to actually deploy…

Robots need to learn skills that can not only generalize across similar problems but also be directed to a specific goal. Previous methods either train a new skill for every different goal or do not infer the specific target in the presence…

Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has recently yielded great advances, both in the optimal control…

Autonomous parking is a crucial task in the intelligent driving field. Traditional parking algorithms are usually implemented using rule-based schemes. However, these methods are less effective in complex parking scenarios due to the…

End-to-end trained neural networks (NNs) are a compelling approach to autonomous vehicle control because of their ability to learn complex tasks without manual engineering of rule-based decisions. However, challenging road conditions,…

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end…

We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…