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

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Robots interacting with humans must not only generate learned movements in real-time, but also infer the intent behind observed behaviors and estimate the confidence of their own inferences. This paper proposes a unified model that achieves…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

We propose InsNet, an expressive insertion-based text generator with efficient training and flexible decoding (parallel or sequential). Unlike most existing insertion-based text generation works that require re-encoding of the context after…

Recent developments in generative diffusion models have turned many dreams into realities. For video object insertion, existing methods typically require additional information, such as a reference video or a 3D asset of the object, to…

Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…

Reinforcement learning has shown a wide usage in robotics tasks, such as insertion and grasping. However, without a practical sim2real strategy, the policy trained in simulation could fail on the real task. There are also wide researches in…

The need for multimodal data integration arises naturally when multiple complementary sets of features are measured on the same sample. Under a dependent multifactor model, we develop a fully data-driven orchestrated approximate message…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

This paper presents INGRESS, a robot system that follows human natural language instructions to pick and place everyday objects. The core issue here is the grounding of referring expressions: infer objects and their relationships from input…

This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Multimodal learning seeks to combine data from multiple input sources to enhance the performance of different downstream tasks. In real-world scenarios, performance can degrade substantially if some input modalities are missing. Existing…

We show that the way inference is performed in few-shot segmentation tasks has a substantial effect on performances -- an aspect often overlooked in the literature in favor of the meta-learning paradigm. We introduce a transductive…

Predicting depth from a single image is an attractive research topic since it provides one more dimension of information to enable machines to better perceive the world. Recently, deep learning has emerged as an effective approach to…

Zero-shot inference is a powerful paradigm that enables the use of large pretrained models for downstream classification tasks without further training. However, these models are vulnerable to inherited biases that can impact their…

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming…

Robotic insertion tasks are characterized by contact and friction mechanics, making them challenging for conventional feedback control methods due to unmodeled physical effects. Reinforcement learning (RL) is a promising approach for…

Recent research has seen numerous supervised learning-based methods for 3D shape segmentation and remarkable performance has been achieved on various benchmark datasets. These supervised methods require a large amount of annotated data to…

Modeling virtual agents with behavior style is one factor for personalizing human agent interaction. We propose an efficient yet effective machine learning approach to synthesize gestures driven by prosodic features and text in the style of…