相关论文: Binding Touch to Everything: Learning Unified Mult…

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…

Recent advances of image-to-image translation focus on learning the one-to-many mapping from two aspects: multi-modal translation and multi-domain translation. However, the existing methods only consider one of the two perspectives, which…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…

Multimodal sensing has proven valuable for visual tracking, as different sensor types offer unique strengths in handling one specific challenging scene where object appearance varies. While a generalist model capable of leveraging all…

Through our respiratory system, many viruses and diseases frequently spread and pass from one person to another. Covid-19 served as an example of how crucial it is to track down and cut back on contacts to stop its spread. There is a clear…

We present 3DTouch, a novel 3D wearable input device worn on the fingertip for 3D manipulation tasks. 3DTouch is designed to fill the missing gap of a 3D input device that is self-contained, mobile, and universally working across various 3D…

Instruction-tuned large language models (LLMs) have demonstrated promising zero-shot generalization capabilities across various downstream tasks. Recent research has introduced multimodal capabilities to LLMs by integrating independently…

We present Emu, a Transformer-based multimodal foundation model, which can seamlessly generate images and texts in multimodal context. This omnivore model can take in any single-modality or multimodal data input indiscriminately (e.g.,…

Single object tracking aims to localize target object with specific reference modalities (bounding box, natural language or both) in a sequence of specific video modalities (RGB, RGB+Depth, RGB+Thermal or RGB+Event.). Different reference…

Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…

Massively multilingual models are promising for transfer learning across tasks and languages. However, existing methods are unable to fully leverage training data when it is available in different task-language combinations. To exploit such…

Human-machine interaction has been around for several decades now, with new applications emerging every day. One of the major goals that remain to be achieved is designing an interaction similar to how a human interacts with another human.…

Predicting the outcomes of robotic actions, often referred to as learning a world model, in complex environments remains a fundamental challenge in robotics. Existing approaches primarily rely on visual observations and action inputs to…

Multimodal learning aims to imitate human beings to acquire complementary information from multiple modalities for various downstream tasks. However, traditional aggregation-based multimodal fusion methods ignore the inter-modality…

We describe a novel metric-based learning approach that introduces a multimodal framework and uses deep audio and geophone encoders in siamese configuration to design an adaptable and lightweight supervised model. This framework eliminates…

Multimodal representation learning has demonstrated remarkable potential in enabling models to process and integrate diverse data modalities, such as text and images, for improved understanding and performance. While the medical domain can…

Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…

Animal visual perception is an important technique for automatically monitoring animal health, understanding animal behaviors, and assisting animal-related research. However, it is challenging to design a deep learning-based perception…

A key objective in multi-view learning is to model the information common to multiple parallel views of a class of objects/events to improve downstream learning tasks. In this context, two open research questions remain: How can we model…