相关论文: Clonemator: Composing Spatiotemporal Clones to Cre…
Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fixed asset libraries and manual heuristics. To bridge this…
Metaverse is an immersive shared space that remote users can access through virtual and augmented reality interfaces, enabling their avatars to interact with each other and the surrounding. Although digital objects can be manipulated,…
We present a novel mixed reality (MR) telepresence system enabling a local user to interact with a remote user through full-body avatars in their own rooms. If the remote rooms have different sizes and furniture arrangements, directly…
Customization is a general trend in software engineering, demanding systems that support variable stakeholder requirements. Two opposing strategies are commonly used to create variants: software clone & own and software configuration with…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
Social media clones are AI-powered social delegates of ourselves created using our personal data. As our identities and online personas intertwine, these technologies have the potential to greatly enhance our social media experience. If…
Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…
The emerging field of panoramic video generation from text and image prompts unlocks new creative possibilities in virtual reality (VR), addressing the limitations of current immersive experiences, which are constrained by pre-designed…
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…
Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…
As digital tools increasingly mediate mental health care, self-clone chatbots can offer a uniquely novel approach to intra-personal exploration and self-derived support. Trained to replicate users' conversational patterns, self-clones allow…
Large language models (LLMs) are expected to be trained to act as agents in various real-world environments, but this process relies on rich and varied tool-interaction sandboxes. However, access to real systems is often restricted;…
Many kinds of industrial projects involve the use of prefabricated modules built offsite, and installation on-site using mobile cranes. Due to their costly operation and safety concerns, utilization of such heavy lift mobile cranes requires…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…
Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design of cyber-agents capable of co-operatively interacting with…
We present ChronoDreamer, an action-conditioned world model for contact-rich robotic manipulation. Given a history of egocentric RGB frames, contact maps, actions, and joint states, ChronoDreamer predicts future video frames, contact…
Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…
The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simulators offer cost-effective alternatives, but the gap between…
This paper investigates different approaches to build and use digital human avatars toward interactive Virtual Co-presence (VCP) environments. We evaluate the evolution of technologies for creating VCP environments and how the advancement…