相关论文: CoFRIDA: Self-Supervised Fine-Tuning for Human-Rob…

This paper presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic…

Deep learning methods for perception are the cornerstone of many robotic systems. Despite their potential for impressive performance, obtaining real-world training data is expensive, and can be impractically difficult for some tasks.…

Social robots often rely on visual perception to understand their users and the environment. Recent advancements in data-driven approaches for computer vision have demonstrated great potentials for applying deep-learning models to enhance a…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…

Recent advances in deep learning, in particular enabled by hardware advances and big data, have provided impressive results across a wide range of computational problems such as computer vision, natural language, or reinforcement learning.…

Surround depth estimation provides a cost-effective alternative to LiDAR for 3D perception in autonomous driving. While recent self-supervised methods explore multi-camera settings to improve scale awareness and scene coverage, they are…

This position paper explores pluriperspectivism as a core element of human creative experience and its relevance to humanrobot cocreativity We propose a layered fivedimensional model to guide the design of cocreative behaviors and the…

Collecting human demonstrations via teleoperation is a common approach for teaching robots task-specific skills. However, when only a limited number of demonstrations are available, policies are prone to entering out-of-distribution (OOD)…

Although widely adopted, existing approaches for fine-tuning pre-trained language models have been shown to be unstable across hyper-parameter settings, motivating recent work on trust region methods. In this paper, we present a simplified…

Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…

Object classification with 3D data is an essential component of any scene understanding method. It has gained significant interest in a variety of communities, most notably in robotics and computer graphics. While the advent of deep…

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…

This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

We present PaintCopilot, a co-creative neural painting assistant that models painting as an open-ended autoregressive artistic behavior conditioned on evolving canvas states and prior brushstroke history, without requiring a target image.…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…

Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In…

This paper presents a "learning to learn" approach to figure-ground image segmentation. By exploring webly-abundant images of specific visual effects, our method can effectively learn the visual-effect internal representations in an…