相关论文: Ag2Manip: Learning Novel Manipulation Skills with …

The increase in available computing power and the Deep Learning revolution have allowed the exploration of new topics and frontiers in Artificial Intelligence research. A new field called Embodied Artificial Intelligence, which places at…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in Vision Language Models (VLMs) have demonstrated remarkable performance in vision and language…

Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…

Animals (especially humans) have an amazing ability to learn new tasks quickly, and switch between them flexibly. How brains support this ability is largely unknown, both neuroscientifically and algorithmically. One reasonable supposition…

Executing open-ended natural language queries is a core problem in robotics. While recent advances in imitation learning and vision-language-actions models (VLAs) have enabled promising end-to-end policies, these models struggle when faced…

Autonomous agents capable of navigating Graphical User Interfaces (GUIs) hold the potential to revolutionize digital productivity. However, achieving true digital autonomy extends beyond reactive element matching; it necessitates a…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…

The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting large-scale real-world manipulation data remains difficult to…

Complex physical tasks entail a sequence of object interactions, each with its own preconditions -- which can be difficult for robotic agents to learn efficiently solely through their own experience. We introduce an approach to discover…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Agentic AI represents a new paradigm for automating complex systems by using Large AI Models (LAMs) to provide human-level cognitive abilities with multimodal perception, planning, memory, and reasoning capabilities. This will lead to a new…

Recent Large Multimodal Models have demonstrated remarkable reasoning capabilities, especially in solving complex mathematical problems and realizing accurate spatial perception. Our key insight is that these emerging abilities can…

Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Reinforcement Learning (RL) and Imitation Learning (IL) have made great progress in robotic decision-making in recent years. However, these methods show obvious deterioration for new tasks that need to be completed through new combinations…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

Referring-based Video Object Segmentation is a multimodal problem that requires producing fine-grained segmentation results guided by external cues. Traditional approaches to this task typically involve training specialized models, which…