相关论文: UMPNet: Universal Manipulation Policy Network for …

Inspired by Gibson's notion of object affordances in human vision, we ask the question: how can an agent learn to predict an entire action policy for a novel object or environment given only a single glimpse? To tackle this problem, we…

As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation…

Recent advances in multi-agent reinforcement learning have been largely limited in training one model from scratch for every new task. The limitation is due to the restricted model architecture related to fixed input and output dimensions.…

Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…

This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has long been challenging for robotics due to the large…

A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable…

We address the problem of goal-directed cloth manipulation, a challenging task due to the deformability of cloth. Our insight is that optical flow, a technique normally used for motion estimation in video, can also provide an effective…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

Object-centric representation is an essential abstraction for forward prediction. Most existing forward models learn this representation through extensive supervision (e.g., object class and bounding box) although such ground-truth…

Action Units (AU) are muscular activations used to describe facial expressions. Therefore accurate AU recognition unlocks unbiaised face representation which can improve face-based affective computing applications. From a learning…

We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the…

One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to…

Unsupervised video object segmentation (UVOS) aims at automatically separating the primary foreground object(s) from the background in a video sequence. Existing UVOS methods either lack robustness when there are visually similar…

Accurate temporal action proposals play an important role in detecting actions from untrimmed videos. The existing approaches have difficulties in capturing global contextual information and simultaneously localizing actions with different…

As modern networks grow increasingly complex--driven by diverse devices, encrypted protocols, and evolving threats--network traffic analysis has become critically important. Existing machine learning models often rely only on a single…

We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to deployable robot policies. UMI employs hand-held grippers…

We propose a neural network architecture, called TransNet, that combines planning and model learning for solving Partially Observable Markov Decision Processes (POMDPs) with non-uniform system dynamics. The past decade has seen a…

Scene understanding is crucial for autonomous systems which intend to operate in the real world. Single task vision networks extract information only based on some aspects of the scene. In multi-task learning (MTL), on the other hand, these…

Recent work in reinforcement learning has shown that incorporating structural priors for articulated robots, such as link connectivity, into policy networks improves learning efficiency. However, dynamics properties, despite their…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…