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

This study examined whether a single ceiling-mounted camera could be used to capture fine-grained learning behaviours in co-located practical learning. In undergraduate nursing simulations, teachers first identified seven observable…

Object detectors are typically learned on fully-annotated training data with fixed predefined categories. However, categories are often required to be increased progressively. Usually, only the original training set annotated with old…

General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduce FunCanon, a framework that converts long-horizon…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Bimanual robotic manipulation is a long-standing challenge of embodied intelligence due to its characteristics of dual-arm spatial-temporal coordination and high-dimensional action spaces. Previous studies rely on pre-defined action…

Multi-modal machine learning (ML) models can process data in multiple modalities (e.g., video, audio, text) and are useful for video content analysis in a variety of problems (e.g., object detection, scene understanding, activity…

Object skeletons offer a concise representation of structural information, capturing essential aspects of posture and orientation that are crucial for autonomous driving applications. However, a unified architecture that simultaneously…

We study the 3D object understanding task for manipulating everyday objects with different material properties (diffuse, specular, transparent and mixed). Existing monocular and RGB-D methods suffer from scale ambiguity due to missing or…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Despite advances in object detection, aerial imagery remains a challenging domain, as models often fail to generalize across variations in spatial resolution, scene composition, and semantic label coverage. Differences in geographic…

3D learning systems implicitly assume that objects occupy a coherent reference frame. Nonetheless, in practice, every asset arrives with an arbitrary global rotation, and models are left to resolve directional ambiguity on their own. This…

We provide a construction for categorical representation learning and introduce the foundations of "$\textit{categorifier}$". The central theme in representation learning is the idea of $\textbf{everything to vector}$. Every object in a…

We present a symbolic learning framework inspired by cognitive-like memory functionalities (i.e., storing, retrieving, consolidating and forgetting) to generate task representations to support high-level task planning and knowledge…

We propose a framework to continuously learn object-centric representations for visual learning and understanding. Existing object-centric representations either rely on supervisions that individualize objects in the scene, or perform…

In the realm of robotic grasping, achieving accurate and reliable interactions with the environment is a pivotal challenge. Traditional methods of grasp planning methods utilizing partial point clouds derived from depth image often suffer…

Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level accuracy, making them less suitable for…

Object-centric learning (OCL) aims to learn representations of individual objects within visual scenes without manual supervision, facilitating efficient and effective visual reasoning. Traditional OCL methods primarily employ bottom-up…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…