相关论文: A Non-parametric Skill Representation with Soft Nu…

This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additionally, existing learning-based frameworks often train the…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…

The Segment Anything Model 2 (SAM 2) has demonstrated strong performance in object segmentation tasks but faces challenges in visual object tracking, particularly when managing crowded scenes with fast-moving or self-occluding objects.…

Motion blur can adversely affect a number of vision tasks, hence it is generally considered a nuisance. We instead treat motion blur as a useful signal that allows to compute the motion of objects from a single image. Drawing on the success…

Linear models have shown great effectiveness and flexibility in many fields such as machine learning, signal processing and statistics. They can represent rich spaces of functions while preserving the convexity of the optimization problems…

Physical motions are inherently continuous, and higher camera frame rates typically contribute to improved smoothness and temporal coherence. For the first time, we explore continuous representations of human motion sequences, featuring the…

We present a generative framework for zero-shot action recognition where some of the possible action classes do not occur in the training data. Our approach is based on modeling each action class using a probability distribution whose…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Although existing text-to-motion (T2M) methods can produce realistic human motion from text description, it is still difficult to align the generated motion with the desired postures since using text alone is insufficient for precisely…

The six-degree-of-freedom (6-DOF) robotic arm has gained widespread application in human-coexisting environments. While previous research has predominantly focused on functional motion generation, the critical aspect of expressive motion in…

We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate an object to a target location. Our method is based on deep…

Reinforcement learning (RL) for motion planning of multi-degree-of-freedom robots still suffers from low efficiency in terms of slow training speed and poor generalizability. In this paper, we propose a novel RL-based robot motion planning…

Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…

We study the problem of novel view synthesis from sparse source observations of a scene comprised of 3D objects. We propose a simple yet effective approach that is neither continuous nor implicit, challenging recent trends on view…

Generalizing skill policies to novel conditions remains a key challenge in robot learning. Imitation learning methods, while data-efficient, are largely confined to the training region and consistently fail on input data outside it, leading…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

Bayesian deep learning all too often underfits so that the Bayesian prediction is less accurate than a simple point estimate. Uncertainty quantification then comes at the cost of accuracy. For linearized models, the null space of the…

This study aims to achieve more precise and versatile object control in image-to-video (I2V) generation. Current methods typically represent the spatial movement of target objects with 2D trajectories, which often fail to capture user…

We propose symmetric power transformation to enhance the capacity of Implicit Neural Representation~(INR) from the perspective of data transformation. Unlike prior work utilizing random permutation or index rearrangement, our method…