相关论文: Universal Visual Decomposer: Long-Horizon Manipula…

This paper studies the problem of concept-based interpretability of transformer representations for videos. Concretely, we seek to explain the decision-making process of video transformers based on high-level, spatiotemporal concepts that…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Robots today can exploit the rich world knowledge of large language models to chain simple behavioral skills into long-horizon tasks. However, robots often get interrupted during long-horizon tasks due to primitive skill failures and…

Learned image compression methods have shown impressive performance but are often highly specialized for either human perception or specific machine vision tasks. This specialization limits their versatility and requires costly retraining…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

In the evolving landscape of video enhancement and editing methodologies, a majority of deep learning techniques often rely on extensive datasets of observed input and ground truth sequence pairs for optimal performance. Such reliance often…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

This paper targets on learning-based novel view synthesis from a single or limited 2D images without the pose supervision. In the viewer-centered coordinates, we construct an end-to-end trainable conditional variational framework to…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

Cartoon-texture image decomposition is a critical preprocessing problem bottlenecked by the numerical intractability of classical variational or optimization models and the tedious manual tuning of global regularization parameters.We…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior object models. Our method plans in the space of object…

Visual-language models have advanced the development of universal models, yet their application in medical imaging remains constrained by specific functional requirements and the limited data. Current general-purpose models are typically…

Cross-task generalization is a core challenge in open-world robotic manipulation, and the key lies in extracting transferable manipulation knowledge from seen tasks. Recent in-context learning approaches leverage seen task demonstrations to…

Progress in 3D vision-language learning has been hindered by the scarcity of large-scale 3D datasets. We introduce UniVLG, a unified architecture for 2D and 3D vision-language understanding that bridges the gap between existing 2D-centric…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…