相关论文: Kineverse: A Symbolic Articulation Model Framework…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing…

Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…

In order to develop robots that can effectively serve as versatile and capable home assistants, it is crucial for them to reliably perceive and interact with a wide variety of objects across diverse environments. To this end, we proposed…

We demonstrate the use of symbolic regression in deriving analytical formulas, which are needed at various stages of a typical experimental analysis in collider phenomenology. As a first application, we consider kinematic variables like the…

A world model is an AI system that simulates how an environment evolves under actions, enabling planning through imagined futures rather than reactive perception. Current world models, however, suffer from visual conflation: the mistaken…

Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…

We introduce a framework for designing multi-scale, adaptive, shift-invariant frames and bi-frames for representing signals. The new framework, called AdaFrame, improves over dictionary learning-based techniques in terms of computational…

With large language models, robots can understand language more flexibly and more capable than ever before. This survey reviews and situates recent literature into a spectrum with two poles: 1) mapping between language and some manually…

We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level generalization in manipulation. Its modular design supports…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

Manipulation tasks often require a robot to adjust its sensorimotor skills based on the state it finds itself in. Taking peg-in-hole as an example: once the peg is aligned with the hole, the robot should push the peg downwards. While high…

Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…

Human-Machine Interaction (HMI) systems have gained huge interest in recent years, with reference expression comprehension being one of the main challenges. Traditionally human-machine interaction has been mostly limited to speech and…

Deep Neural Networks (NNs) have been widely utilized in contact-rich manipulation tasks to model the complicated contact dynamics. However, NN-based models are often difficult to decipher which can lead to seemingly inexplicable behaviors…

Articulatory representation learning is the fundamental research in modeling neural speech production system. Our previous work has established a deep paradigm to decompose the articulatory kinematics data into gestures, which explicitly…