相关论文: You Only Demonstrate Once: Category-Level Manipula…

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

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…

Diffusion-based video motion customization facilitates the acquisition of human motion representations from a few video samples, while achieving arbitrary subjects transfer through precise textual conditioning. Existing approaches often…

Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…

Most existing video moment retrieval methods rely on temporal sequences of frame- or clip-level features that primarily encode global visual and semantic information. However, such representations often fail to capture fine-grained object…

We propose a method that can perform one-class classification given only a small number of examples from the target class and none from the others. We formulate the learning of meaningful features for one-class classification as a…

Manipulation policies deployed in uncontrolled real-world scenarios are faced with great in-category geometric diversity of everyday objects. In order to function robustly under such variations, policies need to work in a category-level…

Learning from human demonstrations (behavior cloning) is a cornerstone of robot learning. However, most behavior cloning algorithms require a large number of demonstrations to learn a task, especially for general tasks that have a large…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised framework for learning hierarchical manipulation concepts…

Intuitive observations show that a baby may inherently possess the capability of recognizing a new visual concept (e.g., chair, dog) by learning from only very few positive instances taught by parent(s) or others, and this recognition…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

Understanding temporal information and how the visual world changes over time is a fundamental ability of intelligent systems. In video understanding, temporal information is at the core of many current challenges, including compression,…

Single object tracking is a vital task of many applications in critical fields. However, it is still considered one of the most challenging vision tasks. In recent years, computer vision, especially object tracking, witnessed the…

Learning a generalizable object manipulation policy is vital for an embodied agent to work in complex real-world scenes. Parts, as the shared components in different object categories, have the potential to increase the generalization…

In this paper, we explore generalizable, perception-to-action robotic manipulation for precise, contact-rich tasks. In particular, we contribute a framework for closed-loop robotic manipulation that automatically handles a category of…

GANs are able to perform generation and manipulation tasks, trained on a single video. However, these single video GANs require unreasonable amount of time to train on a single video, rendering them almost impractical. In this paper we…

This paper addresses the problem of category-level pose estimation for articulated objects in robotic manipulation tasks. Recent works have shown promising results in estimating part pose and size at the category level. However, these…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…