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

Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning…

We present CoverNet, a new method for multimodal, probabilistic trajectory prediction for urban driving. Previous work has employed a variety of methods, including multimodal regression, occupancy maps, and 1-step stochastic policies. We…

Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…

Collision-free motion generation in unknown environments is a core building block for robot manipulation. Generating such motions is challenging due to multiple objectives; not only should the solutions be optimal, the motion generator…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

The ability to decompose scenes in terms of abstract building blocks is crucial for general intelligence. Where those basic building blocks share meaningful properties, interactions and other regularities across scenes, such decompositions…

Articulated 3D objects play a vital role in realistic simulation and embodied robotics, yet manually constructing such assets remains costly and difficult to scale. In this paper, we present UniArt, a diffusion-based framework that directly…

This paper presents a novel structured knowledge representation called the functional object-oriented network (FOON) to model the connectivity of the functional-related objects and their motions in manipulation tasks. The graphical model…

We present StrobeNet, a method for category-level 3D reconstruction of articulating objects from one or more unposed RGB images. Reconstructing general articulating object categories % has important applications, but is challenging since…

The world is filled with articulated objects that are difficult to determine how to use from vision alone, e.g., a door might open inwards or outwards. Humans handle these objects with strategic trial-and-error: first pushing a door then…

In most classical Autonomous Vehicle (AV) stacks, the prediction and planning layers are separated, limiting the planner to react to predictions that are not informed by the planned trajectory of the AV. This work presents a module that…

Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…

Learning a universal manipulation policy encompassing doors with diverse categories, geometries and mechanisms, is crucial for future embodied agents to effectively work in complex and broad real-world scenarios. Due to the limited datasets…

Object goal navigation aims to steer an agent towards a target object based on observations of the agent. It is of pivotal importance to design effective visual representations of the observed scene in determining navigation actions. In…

Learning the physical dynamics of deformable objects with particle-based representation has been the objective of many computational models in machine learning. While several state-of-the-art models have achieved this objective in simulated…

Detecting and recognizing objects interacting with humans lie in the center of first-person (egocentric) daily activity recognition. However, due to noisy camera motion and frequent changes in viewpoint and scale, most of the previous…

We create a family of powerful video models which are able to: (i) learn interactions between semantic object information and raw appearance and motion features, and (ii) deploy attention in order to better learn the importance of features…

A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…

Even with the recent advances in convolutional neural networks (CNN) in various visual recognition tasks, the state-of-the-art action recognition system still relies on hand crafted motion feature such as optical flow to achieve the best…

Data generation is a data augmentation technique for enhancing the generalization ability for skeleton-based human action recognition. Most existing data generation methods face challenges to ensure the temporal consistency of the dynamic…