相关论文: Learning Predictive Representations for Deformable…

Recent breakthroughs in self-supervised learning show that such algorithms learn visual representations that can be transferred better to unseen tasks than joint-training methods relying on task-specific supervision. In this paper, we found…

Recent progress in deterministic prompt learning has become a promising alternative to various downstream vision tasks, enabling models to learn powerful visual representations with the help of pre-trained vision-language models. However,…

We develop an approach to learning visual representations that embraces multimodal data, driven by a combination of intra- and inter-modal similarity preservation objectives. Unlike existing visual pre-training methods, which solve a proxy…

Accurately predicting deformable linear object (DLO) dynamics is challenging, especially when the task requires a model that is both human-interpretable and computationally efficient. In this work, we draw inspiration from the pseudo-rigid…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…

Robotic tasks such as manipulation with visual inputs require image features that capture the physical properties of the scene, e.g., the position and configuration of objects. Recently, it has been suggested to learn such features in an…

The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…

Visual model-based RL methods typically encode image observations into low-dimensional representations in a manner that does not eliminate redundant information. This leaves them susceptible to spurious variations -- changes in…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

While supervised learning has enabled great progress in many applications, unsupervised learning has not seen such widespread adoption, and remains an important and challenging endeavor for artificial intelligence. In this work, we propose…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

We propose a probabilistic generative model for unsupervised learning of structured, interpretable, object-based representations of visual scenes. We use amortized variational inference to train the generative model end-to-end. The learned…

Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…

Manipulation of deformable Linear objects (DLOs), including iron wire, rubber, silk, and nylon rope, is ubiquitous in daily life. These objects exhibit diverse physical properties, such as Young$'$s modulus and bending stiffness.Such…