相关论文: General Flow as Foundation Affordance for Scalable…

Motion transfer from the driving to the source portrait remains a key challenge in the portrait animation. Current diffusion-based approaches condition only on the driving motion, which fails to capture source-to-driving correspondences and…

Learning to locomote to arbitrary goals on hardware remains a challenging problem for reinforcement learning. In this paper, we present a hierarchical learning framework that improves sample-efficiency and generalizability of locomotion…

We present GLEE in this work, an object-level foundation model for locating and identifying objects in images and videos. Through a unified framework, GLEE accomplishes detection, segmentation, tracking, grounding, and identification of…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Many recent machine learning models rely on fine-grained dynamic control flow for training and inference. In particular, models based on recurrent neural networks and on reinforcement learning depend on recurrence relations, data-dependent…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

Super-resolution is an ill-posed problem, where a ground-truth high-resolution image represents only one possibility in the space of plausible solutions. Yet, the dominant paradigm is to employ pixel-wise losses, such as L_1, which drive…

This paper considers the problem of learning a control policy for robot motion planning with zero-shot generalization, i.e., no data collection and policy adaptation is needed when the learned policy is deployed in new environments. We…

We aim to develop a model-based planning framework for world models that can be scaled with increasing model and data budgets for general-purpose manipulation tasks with only language and vision inputs. To this end, we present FLow-centric…

Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…

Pioneered by the foundational information theory by Claude Shannon and the visionary framework of machine intelligence by Alan Turing, the convergent evolution of information and communication technologies (IT/CT) has created an unbroken…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

We present STARFlow, a scalable generative model based on normalizing flows that achieves strong performance in high-resolution image synthesis. The core of STARFlow is Transformer Autoregressive Flow (TARFlow), which combines the…

Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a systemic challenge remains unresolved, as inherent latency…

Recent advancements in video generation have enabled the development of ``world models'' capable of simulating potential futures for robotics and planning. However, specifying precise goals for these models remains a challenge; text…

Robot learning is at an inflection point, driven by rapid advancements in machine learning and the growing availability of large-scale robotics data. This shift from classical, model-based methods to data-driven, learning-based paradigms is…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

Towards the aim of generalized robotic manipulation, spatial generalization is the most fundamental capability that requires the policy to work robustly under different spatial distribution of objects, environment and agent itself. To…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…