相关论文: InsertionNet 2.0: Minimal Contact Multi-Step Inser…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

The wide application of flow-matching methods has greatly promoted the development of robot imitation learning. However, these methods all face the problem of high inference time. To address this issue, researchers have proposed…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While…

Tracking visual objects from a single initial exemplar in the testing phase has been broadly cast as a one-/few-shot problem, i.e., one-shot learning for initial adaptation and few-shot learning for online adaptation. The recent few-shot…

Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…

Imagine a robot is shown new concepts visually together with spoken tags, e.g. "milk", "eggs", "butter". After seeing one paired audio-visual example per class, it is shown a new set of unseen instances of these objects, and asked to pick…

Training a computer vision system to segment a novel class typically requires collecting and painstakingly annotating lots of images with objects from that class. Few-shot segmentation techniques reduce the required number of images to…

Low-light image enhancement remains a challenging task, particularly in the absence of paired training data. In this study, we present LucentVisionNet, a novel zero-shot learning framework that addresses the limitations of traditional and…

In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model…

Few-shot deep learning is a topical challenge area for scaling visual recognition to open ended growth of unseen new classes with limited labeled examples. A promising approach is based on metric learning, which trains a deep embedding to…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Few-shot segmentation focuses on the generalization of models to segment unseen object instances with limited training samples. Although tremendous improvements have been achieved, existing methods are still constrained by two factors. (1)…

Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…

Recognition of intentions is a subconscious cognitive process vital to human communication. This skill enables anticipation and increases the quality of interactions between humans. Within the context of engagement, non-verbal signals are…

Multimodal learning assumes all modality combinations of interest are available during training to learn cross-modal correspondences. In this paper, we challenge this modality-complete assumption for multimodal learning and instead strive…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

This paper introduces Point2Insert, a sparse-point-based framework for flexible and user-friendly object insertion in videos, motivated by the growing popularity of accurate, low-effort object placement. Existing approaches face two major…

Transductive inference is an effective means of tackling the data deficiency problem in few-shot learning settings. A popular transductive inference technique for few-shot metric-based approaches, is to update the prototype of each class…