相关论文: ALDM-Grasping: Diffusion-aided Zero-Shot Sim-to-Re…

Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…

Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

In robotics, gradient-free optimization algorithms (e.g. evolutionary algorithms) are often used only in simulation because they require the evaluation of many candidate solutions. Nevertheless, solutions obtained in simulation often do not…

Recently, the diffusion model has emerged as a superior generative model that can produce high quality and realistic images. However, for medical image translation, the existing diffusion models are deficient in accurately retaining…

We present DREAM, a novel training framework representing Diffusion Rectification and Estimation Adaptive Models, requiring minimal code changes (just three lines) yet significantly enhancing the alignment of training with sampling in…

Zero-shot, training-free, image-based text-to-video generation is an emerging area that aims to generate videos using existing image-based diffusion models. Current methods in this space require specific architectural changes to image…

Sim-to-Real refers to the process of transferring policies learned in simulation to the real world, which is crucial for achieving practical robotics applications. However, recent Sim2real methods either rely on a large amount of augmented…

Adding additional control to pretrained diffusion models has become an increasingly popular research area, with extensive applications in computer vision, reinforcement learning, and AI for science. Recently, several studies have proposed…

In this paper, we study the problem of zero-shot sim-to-real when the task requires both highly precise control with sub-millimetre error tolerance, and wide task space generalisation. Our framework involves a coarse-to-fine controller,…

Dexterous grasping in cluttered scenes presents significant challenges due to diverse object geometries, occlusions, and potential collisions. Existing methods primarily focus on single-object grasping or grasp-pose prediction without…

Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…

Real world data, especially in the domain of robotics, is notoriously costly to collect. One way to circumvent this can be to leverage the power of simulation to produce large amounts of labelled data. However, training models on simulated…

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…

The collection of large-scale and diverse robot demonstrations remains a major bottleneck for imitation learning, as real-world data acquisition is costly and simulators offer limited diversity and fidelity with pronounced sim-to-real gaps.…

Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

Diffusion models have achieved remarkable success in imaging inverse problems owing to their powerful generative capabilities. However, existing approaches typically rely on models trained for specific degradation types, limiting their…

Commercial RGB-D cameras often produce noisy, incomplete depth maps for non-Lambertian objects. Traditional depth completion methods struggle to generalize due to the limited diversity and scale of training data. Recent advances exploit…

LiDAR-based semantic segmentation is a key component for autonomous mobile robots, yet large-scale annotation of LiDAR point clouds is prohibitively expensive and time-consuming. Although simulators can provide labeled synthetic data,…