相关论文: FabricFlowNet: Bimanual Cloth Manipulation with a …

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

Fashion illustration is used by designers to communicate their vision and to bring the design idea from conceptualization to realization, showing how clothes interact with the human body. In this context, computer vision can thus be used to…

Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approaches encode safety indirectly through reward shaping, which…

Transfer learning, which allows a source task to affect the inductive bias of the target task, is widely used in computer vision. The typical way of conducting transfer learning with deep neural networks is to fine-tune a model pre-trained…

Enabling robots to execute novel manipulation tasks zero-shot is a central goal in robotics. Most existing methods assume in-distribution tasks or rely on fine-tuning with embodiment-matched data, limiting transfer across platforms. We…

We propose the first machine-learned control-oriented flow estimation for multiple-input multiple-output plants. Starting point is constant actuation with open-loop actuation commands leading to a database with simultaneously recorded…

Knotting plastic bags is a common task in daily life, yet it is challenging for robots due to the bags' infinite degrees of freedom and complex physical dynamics. Existing methods often struggle in generalization to unseen bag instances or…

Diffusion models, such as diffusion policy, have achieved state-of-the-art results in robotic manipulation by imitating expert demonstrations. While diffusion models were originally developed for vision tasks like image and video…

Most recent diffusion-based methods still show a large gap compared to non-diffusion methods for video frame interpolation, in both accuracy and efficiency. Most of them formulate the problem as a denoising procedure in latent space…

Diffusion models have recently emerged as expressive policy representations for online reinforcement learning (RL). However, their iterative generative processes introduce substantial training and inference overhead. To overcome this…

For many applications with limited computation, communication, storage and energy resources, there is an imperative need of computer vision methods that could select an informative subset of the input video for efficient processing at or…

Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…

Future motion representations, such as optical flow, offer immense value for control and generative tasks. However, forecasting generalizable spatially dense motion representations remains a key challenge, and learning such forecasting from…

Garment folding is a common yet challenging task in robotic manipulation. The deformability of garments leads to a vast state space and complex dynamics, which complicates precise and fine-grained manipulation. Previous approaches often…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

Generative video modeling has emerged as a compelling tool to zero-shot reason about plausible physical interactions for open-world manipulation. Yet, it remains a challenge to translate such human-led motions into the low-level actions…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Despite the recent success of end-to-end learned representations, hand-crafted optical flow features are still widely used in video analysis tasks. To fill this gap, we propose TVNet, a novel end-to-end trainable neural network, to learn…

Non-contact manipulation is a promising methodology in robotics, offering a wide range of scientific and industrial applications. Among the proposed approaches, airflow stands out for its ability to project across considerable distances and…

While recent advances in virtual try-on (VTON) have achieved realistic garment transfer to human subjects, its inverse task, virtual try-off (VTOFF), which aims to reconstruct canonical garment templates from dressed humans, remains…