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

The majority of AI models in imaging and vision are customized to perform on specific high-precision task. However, this strategy is inefficient for applications with a series of modular tasks, since each requires a mapping into a disparate…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

As the emerging trend of graph-based deep learning, Graph Neural Networks (GNNs) excel for their capability to generate high-quality node feature vectors (embeddings). However, the existing one-size-fits-all GNN implementations are…

We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level generalization in manipulation. Its modular design supports…

3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically…

This paper addresses the challenge of Neural Field (NeF) generalization, where models must efficiently adapt to new signals given only a few observations. To tackle this, we propose Geometric Neural Process Fields (G-NPF), a probabilistic…

We introduce GenAgent, unifying visual understanding and generation through an agentic multimodal model. Unlike unified models that face expensive training costs and understanding-generation trade-offs, GenAgent decouples these capabilities…

General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduce FunCanon, a framework that converts long-horizon…

With the greater emphasis on privacy and security in our society, the problem of graph unlearning -- revoking the influence of specific data on the trained GNN model, is drawing increasing attention. However, ranging from machine unlearning…

Graph Neural Networks (GNNs) have gained momentum in graph representation learning and boosted the state of the art in a variety of areas, such as data mining (\emph{e.g.,} social network analysis and recommender systems), computer vision…

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…

Foundation models are a promising path toward general-purpose and user-friendly robots. The prevalent approach involves training a generalist policy that, like a reinforcement learning policy, uses observations to output actions. Although…

Recovering the 3D shape of an object from single or multiple images with deep neural networks has been attracting increasing attention in the past few years. Mainstream works (e.g. 3D-R2N2) use recurrent neural networks (RNNs) to…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

Graph neural networks (GNNs) are often trained on individual datasets, requiring specialized models and significant hyperparameter tuning due to the unique structures and features of each dataset. This approach limits the scalability and…

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

High-fidelity 3D scene reconstruction has been substantially advanced by recent progress in neural fields. However, most existing methods train a separate network from scratch for each individual scene. This is not scalable, inefficient,…

An excellent representation is crucial for reinforcement learning (RL) performance, especially in vision-based reinforcement learning tasks. The quality of the environment representation directly influences the achievement of the learning…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

This paper presents DNAct, a language-conditioned multi-task policy framework that integrates neural rendering pre-training and diffusion training to enforce multi-modality learning in action sequence spaces. To learn a generalizable…