相关论文: PIP: Physical Interaction Prediction via Mental Si…

Intrinsic Motivation (IM) aims to train agents without external rewards, enabling useful behavior to emerge from the agent's interaction with its environment alone. However, the dominant IM approaches rely on information-theoretic…

In recent years, large-scale pre-trained multimodal models (LMM) generally emerge to integrate the vision and language modalities, achieving considerable success in various natural language processing and computer vision tasks. The growing…

While non-prehensile manipulation (e.g., controlled pushing/poking) constitutes a foundational robotic skill, its learning remains challenging due to the high sensitivity to complex physical interactions involving friction and restitution.…

Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…

Human motion prediction is crucial for human-centric multimedia understanding and interacting. Current methods typically rely on ground truth human poses as observed input, which is not practical for real-world scenarios where only raw…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…

We propose a new family of neural networks to predict the behaviors of physical systems by learning their underpinning constraints. A neural projection operator lies at the heart of our approach, composed of a lightweight network with an…

Invariant prediction [Peters et al., 2016] analyzes feature/outcome data from multiple environments to identify invariant features - those with a stable predictive relationship to the outcome. Such features support generalization to new…

We aim to develop a model-based planning framework for world models that can be scaled with increasing model and data budgets for general-purpose manipulation tasks with only language and vision inputs. To this end, we present FLow-centric…

We introduce an imitation learning-based physical human-robot interaction algorithm capable of predicting appropriate robot responses in complex interactions involving a superposition of multiple interactions. Our proposed algorithm,…

When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…

Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…

First-person hand-object interaction anticipation aims to predict the interaction process over a forthcoming period based on current scenes and prompts. This capability is crucial for embodied intelligence and human-robot collaboration. The…

Motion prediction is essential and challenging for autonomous vehicles and social robots. One challenge of motion prediction is to model the interaction among traffic actors, which could cooperate with each other to avoid collisions or form…

The relative spatial layout of a human and an object is an important cue for determining how they interact. However, until now, spatial layout has been used just as side-information for detecting human-object interactions (HOIs). In this…

Humans combine prediction and perception to observe the world. When faced with rapidly moving birds or insects, we can only perceive them clearly by predicting their next position and focusing our gaze there. Inspired by this, this paper…

General physical scene understanding requires more than simply localizing and recognizing objects -- it requires knowledge that objects can have different latent properties (e.g., mass or elasticity), and that those properties affect the…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

Pro-inflammatory peptides (PIPs) play critical roles in immune signaling and inflammation but are difficult to identify experimentally due to costly and time-consuming assays. To address this challenge, we present KEMP-PIP, a hybrid machine…