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

Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…

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…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

We present a novel approach to unsupervised learning for video object segmentation (VOS). Unlike previous work, our formulation allows to learn dense feature representations directly in a fully convolutional regime. We rely on uniform grid…

Performing multiple heterogeneous visual tasks in dynamic scenes is a hallmark of human perception capability. Despite remarkable progress in image and video recognition via representation learning, current research still focuses on…

Vision-Language-Action (VLA) models have become a cornerstone in robotic policy learning, leveraging large-scale multimodal data for robust and scalable control. However, existing VLA frameworks primarily address short-horizon tasks, and…

At the core of both successful generative and self-supervised representation learning models there is a reconstruction objective that incorporates some form of image corruption. Diffusion models implement this approach through a scheduled…

We address the problem of generating long-horizon videos for robotic manipulation tasks. Text-to-video diffusion models have made significant progress in photorealism, language understanding, and motion generation but struggle with…

Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…

Recent advances in diffusion models have achieved remarkable success in isolated computer vision tasks such as text-to-image generation, depth estimation, and optical flow. However, these models are often restricted by a…

The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…

Unmanned Surface Vehicles (USVs) have emerged as a major platform in maritime operations, capable of supporting a wide range of applications. USVs can help reduce labor costs, increase safety, save energy, and allow for difficult unmanned…

We study reward models for long-horizon manipulation tasks by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Recent advancements in cross-modality modeling have…

Reconstructing a 3D object from a 2D image is a well-researched vision problem, with many kinds of deep learning techniques having been tried. Most commonly, 3D convolutional approaches are used, though previous work has shown…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…

In embodied intelligence, the embodiment gap between robotic and human hands brings significant challenges for learning from human demonstrations. Although some studies have attempted to bridge this gap using reinforcement learning, they…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…