相关论文: Learning rich touch representations through cross-…

Few-shot classification is a challenging problem that aims to learn a model that can adapt to unseen classes given a few labeled samples. Recent approaches pre-train a feature extractor, and then fine-tune for episodic meta-learning. Other…

The integration of visual-tactile stimulus is common while humans performing daily tasks. In contrast, using unimodal visual or tactile perception limits the perceivable dimensionality of a subject. However, it remains a challenge to…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…

Learning a new task from a handful of examples remains an open challenge in machine learning. Despite the recent progress in few-shot learning, most methods rely on supervised pretraining or meta-learning on labeled meta-training data and…

Metric learning is a widely used method for few shot learning in which the quality of prototypes plays a key role in the algorithm. In this paper we propose the trainable prototypes for distance measure instead of the artificial ones within…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

We need to look at our shoelaces as we first learn to tie them but having mastered this skill, can do it from touch alone. We call this phenomenon "sensory scaffolding": observation streams that are not needed by a master might yet aid a…

We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…

This study investigates how text-driven object affordance, which provides prior knowledge about grasp types for each object, affects image-based grasp-type recognition in robot teaching. The researchers created labeled datasets of…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Deep learning models trained in a fully supervised manner have been shown to rely on so-called "shortcut" features. Shortcut features are inputs that are associated with the outcome of interest in the training data, but are either no longer…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Dexterous manipulation is a cornerstone capability for robotic systems aiming to interact with the physical world in a human-like manner. Although vision-based methods have advanced rapidly, tactile sensing remains crucial for fine-grained…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…

Hand gesture recognition is becoming a more prevalent mode of human-computer interaction, especially as cameras proliferate across everyday devices. Despite continued progress in this field, gesture customization is often underexplored.…

Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

Current video models fail as world model as they lack fine-graiend control. General-purpose household robots require real-time fine motor control to handle delicate tasks and urgent situations. In this work, we introduce fine-grained…