相关论文: Learning to See before Learning to Act: Visual Pre…

Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance,…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Contrastive language-image pretraining has shown great success in learning visual-textual joint representation from web-scale data, demonstrating remarkable "zero-shot" generalization ability for various image tasks. However, how to…

Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…

Conventional works that learn grasping affordance from demonstrations need to explicitly predict grasping configurations, such as gripper approaching angles or grasping preshapes. Classic motion planners could then sample trajectories by…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Pre-trained vision language models do not have good intuitions about the physical world. Recent work has shown that supervised fine-tuning can improve model performance on simple physical tasks. However, fine-tuned models do not appear to…

Visual representation learning hold great promise for robotics, but is severely hampered by the scarcity and homogeneity of robotics datasets. Recent works address this problem by pre-training visual representations on large-scale but…

Humans intuitively recognize objects' physical properties and predict their motion, even when the objects are engaged in complicated interactions. The abilities to perform physical reasoning and to adapt to new environments, while intrinsic…

We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a sequence of camera images, proprioceptive robot states, and…

We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…

We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate an object to a target location. Our method is based on deep…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…

In this project we trained a neural network to perform specific interactions between a robot and objects in the environment, through imitation learning. In particular, we tackle the task of moving the robot to a fixed pose with respect to a…

The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

Tool use requires reasoning about the fit between an object's affordances and the demands of a task. Visual affordance learning can benefit from goal-directed interaction experience, but current techniques rely on human labels or expert…

Recent vision transformer based video models mostly follow the ``image pre-training then finetuning" paradigm and have achieved great success on multiple video benchmarks. However, full finetuning such a video model could be computationally…

We demonstrate model-based, visual robot manipulation of linear deformable objects. Our approach is based on a state-space representation of the physical system that the robot aims to control. This choice has multiple advantages, including…