相关论文: Vision-based Teleoperation of Shadow Dexterous Han…

We propose DeRenderNet, a deep neural network to decompose the albedo and latent lighting, and render shape-(in)dependent shadings, given a single image of an outdoor urban scene, trained in a self-supervised manner. To achieve this goal,…

As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…

We propose V2CNet, a new deep learning framework to automatically translate the demonstration videos to commands that can be directly used in robotic applications. Our V2CNet has two branches and aims at understanding the demonstration…

This paper presents a hand-written character recognition comparison and performance evaluation for robust and precise classification of different hand-written characters. The system utilizes advanced multilayer deep neural network by…

We propose a novel 3D neural network architecture for 3D hand pose estimation from a single depth image. Different from previous works that mostly run on 2D depth image domain and require intermediate or post process to bring in the…

Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for…

Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands' dissimilar…

Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…

We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies which can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The training is performed in a simulated environment in which we…

What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…

Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…

While it is widely known that neural networks are universal approximators of continuous functions, a less known and perhaps more powerful result is that a neural network with a single hidden layer can approximate accurately any nonlinear…

The generalization of the end-to-end deep reinforcement learning (DRL) for object-goal visual navigation is a long-standing challenge since object classes and placements vary in new test environments. Learning domain-independent visual…

Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…

As part of a complete software stack for autonomous driving, NVIDIA has created a neural-network-based system, known as PilotNet, which outputs steering angles given images of the road ahead. PilotNet is trained using road images paired…

As large models gain traction, vision-language-action (VLA) systems are enabling robots to tackle increasingly complex tasks. However, limited by the difficulty of data collection, progress has mainly focused on controlling simple gripper…

Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…

Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…

This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…

Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…