相关论文: Sim2Real View Invariant Visual Servoing by Recurre…

Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…

This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the VIK problem seeks to find robot configurations subject to…

Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…

Recently, natural language has been the primary medium for human-robot interaction. However, its inherent lack of spatial precision introduces challenges for robotic task definition such as ambiguity and verbosity. Moreover, in some public…

Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…

In this paper, we perform robot manipulation activities in real-world environments with language contexts by integrating a compact referring image segmentation model into the robot's perception module. First, we propose CLIPU$^2$Net, a…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…

We present a framework for robots to learn novel visual concepts and tasks via in-situ linguistic interactions with human users. Previous approaches have either used large pre-trained visual models to infer novel objects zero-shot, or added…

We present a system which grows and manages a network of remote viewpoints during the natural installation cycle for a newly installed camera network or a newly deployed robot fleet. No explicit notion of camera position or orientation is…

Prompt-based learning has emerged as a successful paradigm in natural language processing, where a single general-purpose language model can be instructed to perform any task specified by input prompts. Yet task specification in robotics…

To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

Service robots are appearing more and more in our daily life. The development of service robots combines multiple fields of research, from object perception to object manipulation. The state-of-the-art continues to improve to make a proper…

Vision-based control systems, such as image-based visual servoing (IBVS), have been extensively explored for precise robot manipulation. A persistent challenge, however, is maintaining robust target tracking under partial or full…

Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…