相关论文: GNFactor: Multi-Task Real Robot Learning with Gene…

In this paper we present a novel method for efficient and effective 3D surface reconstruction in open scenes. Existing Neural Radiance Fields (NeRF) based works typically require extensive training and rendering time due to the adopted…

A factored Nonlinear Program (Factored-NLP) explicitly models the dependencies between a set of continuous variables and nonlinear constraints, providing an expressive formulation for relevant robotics problems such as manipulation planning…

General-purpose robots require decision-making models that generalize across diverse tasks and environments. Recent works build robot foundation models by extending multimodal large language models (MLLMs) with action outputs, creating…

Generalized zero-shot skeleton-based action recognition (GZSSAR) is a new challenging problem in computer vision community, which requires models to recognize actions without any training samples. Previous studies only utilize the action…

Image generation models have evolved from text-conditioned pixel synthesis toward multimodal agents endowed with visual comprehension and tool invocation capabilities. Yet, existing agents remain at the mercy of underlying black-box image…

Deep Learning (DL) has the potential to optimize machine learning in both the scientific and clinical communities. However, greater expertise is required to develop DL algorithms, and the variability of implementations hinders their…

In this paper, we explore a novel model reusing task tailored for graph neural networks (GNNs), termed as "deep graph reprogramming". We strive to reprogram a pre-trained GNN, without amending raw node features nor model parameters, to…

Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unified frameworks for complex task planning. However, mastering…

Computer representations of three-dimensional (3D) geometries are crucial for simulating systems and processes in engineering and science. In medicine, and more specifically, biomechanics and orthopaedics, obtaining and using 3D geometries…

Feature transformation aims to reconstruct an effective representation space by mathematically refining the existing features. It serves as a pivotal approach to combat the curse of dimensionality, enhance model generalization, mitigate…

We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key…

In this paper, we propose Generalizable and Animatable Gaussian head Avatar (GAGAvatar) for one-shot animatable head avatar reconstruction. Existing methods rely on neural radiance fields, leading to heavy rendering consumption and low…

As more deep learning models are being applied in real-world applications, there is a growing need for modeling and learning the representations of neural networks themselves. An efficient representation can be used to predict target…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable…

Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity. Leveraging powerful 3D generative models and vision…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Multi-focus image fusion aims to generate an all-in-focus image from a sequence of partially focused input images. Existing fusion algorithms generally assume that, for every spatial location in the scene, there is at least one input image…

Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…

Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However,…