相关论文: Multiple Interactions Made Easy (MIME): Large Scal…

Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more broadly, due to the amount of cost and human effort involved.…

In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse tasks involving 96 object classes. RoboMIND is collected…

Human motion generation has shown great advances thanks to the recent diffusion models trained on large-scale motion capture data. Most of existing works, however, currently target animation of isolated people in empty scenes. Meanwhile,…

We address key limitations in existing datasets and models for task-oriented hand-object interaction video generation, a critical approach of generating video demonstrations for robotic imitation learning. Current datasets, such as Ego4D,…

In this paper, we introduce RoleMotion, a large-scale human motion dataset that encompasses a wealth of role-playing and functional motion data tailored to fit various specific scenes. Existing text datasets are mainly constructed…

Smart factories use advanced technologies to optimize production and increase efficiency. To this end, the recognition of worker activity allows for accurate quantification of performance metrics, improving efficiency holistically while…

The advancements in embodied AI are increasingly enabling robots to tackle complex real-world tasks, such as household manipulation. However, the deployment of robots in these environments remains constrained by the lack of comprehensive…

Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

Assembly101 is a new procedural activity dataset featuring 4321 videos of people assembling and disassembling 101 "take-apart" toy vehicles. Participants work without fixed instructions, and the sequences feature rich and natural variations…

We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning.…

We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset contains 3048 sequences across 381 articulated objects in…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

We introduce MABe22, a large-scale, multi-agent video and trajectory benchmark to assess the quality of learned behavior representations. This dataset is collected from a variety of biology experiments, and includes triplets of interacting…

The analysis of the ubiquitous human-human interactions is pivotal for understanding humans as social beings. Existing human-human interaction datasets typically suffer from inaccurate body motions, lack of hand gestures and fine-grained…

A hug is a tight embrace and an expression of warmth, sympathy and camaraderie. Despite the fact that a hug often only takes a few seconds, it is filled with details and nuances and is a highly complex process of coordination between two…

We propose a dataset to study the influence of object-specific characteristics on human pick-and-place movements and compare the quality of the motion kinematics extracted by various sensors. This dataset is also suitable for promoting a…

Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Data-driven robotic manipulation learning depends on large-scale, high-quality expert demonstration datasets. However, existing datasets, which primarily rely on human teleoperated robot collection, are limited in terms of scalability,…