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

Neural fields have emerged as a powerful framework for representing continuous multidimensional signals such as images and videos, 3D and 4D objects and scenes, and radiance fields. While efficient, achieving high-quality representation…

Articulated object manipulation is essential for various real-world robotic tasks, yet generalizing across diverse objects remains a major challenge. A key to generalization lies in understanding functional parts (e.g., door handles and…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Relying on multi-modal observations, embodied robots (e.g., humanoid robots) could perform multiple robotic manipulation tasks in unstructured real-world environments. However, most language-conditioned behavior-cloning agents in robots…

Most modern deep learning-based multi-view 3D reconstruction techniques use RNNs or fusion modules to combine information from multiple images after independently encoding them. These two separate steps have loose connections and do not…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…

Graph Neural Networks (GNNs) have demonstrated effectiveness in collaborative filtering tasks due to their ability to extract powerful structural features. However, combining the graph features extracted from user-item interactions and…

The challenge of effectively learning inter-series correlations for multivariate time series forecasting remains a substantial and unresolved problem. Traditional deep learning models, which are largely dependent on the Transformer paradigm…

This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensional spaces, considering both static and dynamic environments…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

Accurate scene perception is critical for vision-based robotic manipulation. Existing approaches typically follow either a Vision-to-Action (V-A) paradigm, predicting actions directly from visual inputs, or a Vision-to-3D-to-Action (V-3D-A)…

Acquiring dexterous robotic skills from human video demonstrations remains a significant challenge, largely due to conventional reliance on low-level trajectory replication, which often fails to generalize across varying objects, spatial…

Robot learning methods have the potential for widespread generalization across tasks, environments, and objects. However, these methods require large diverse datasets that are expensive to collect in real-world robotics settings. For robot…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

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…

In visual-based Reinforcement Learning (RL), agents often struggle to generalize well to environmental variations in the state space that were not observed during training. The variations can arise in both task-irrelevant features, such as…

The problem of decentralized multi-robot target tracking asks for jointly selecting actions, e.g., motion primitives, for the robots to maximize target tracking performance with local communications. One major challenge for practical…

Dynamical systems consisting of a set of autonomous agents face the challenge of having to accomplish a global task, relying only on local information. While centralized controllers are readily available, they face limitations in terms of…

Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…