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

Image rescaling aims to learn the optimal low-resolution (LR) image that can be accurately reconstructed to its original high-resolution (HR) counterpart, providing an efficient image processing and storage method for ultra-high definition…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

The pose-guided person image generation task requires synthesizing photorealistic images of humans in arbitrary poses. The existing approaches use generative adversarial networks that do not necessarily maintain realistic textures or need…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

Denoising diffusion models are a powerful type of generative models used to capture complex distributions of real-world signals. However, their applicability is limited to scenarios where training samples are readily available, which is not…

Generative Adversarial Networks (GANs) dominate the research field in image-based virtual try-on, but have not resolved problems such as unnatural deformation of garments and the blurry generation quality. While the generative quality of…

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…

Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisation approaches often struggle to solve such tasks due to the…

There has been substantial progress in humanoid robots, with new skills continuously being taught, ranging from navigation to manipulation. While these abilities may seem impressive, the teaching methods often remain inefficient. To enhance…

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…

As Diffusion Models have shown promising performance, a lot of efforts have been made to improve the controllability of Diffusion Models. However, how to train Diffusion Models to have the disentangled latent spaces and how to naturally…

Predictive manipulation has recently gained considerable attention in the Embodied AI community due to its potential to improve robot policy performance by leveraging predicted states. However, generating accurate future visual states of…

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…

Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…

Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both…

Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent complexity of these tasks, acquiring sufficient demonstration data…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Dexterous grasping remains a central challenge in robotics due to the complexity of its high-dimensional state and action space. We introduce T(R,O) Grasp, a diffusion-based framework that efficiently generates accurate and diverse grasps…

Large-scale pre-training tasks like image classification, captioning, or self-supervised techniques do not incentivize learning the semantic boundaries of objects. However, recent generative foundation models built using text-based latent…