相关论文: GET-Zero: Graph Embodiment Transformer for Zero-sh…

Zero-shot learning (ZSL) aims to learn models that can recognize unseen image semantics based on the training of data with seen semantics. Recent studies either leverage the global image features or mine discriminative local patch features…

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.…

Zero-shot learning (ZSL) tackles the novel class recognition problem by transferring semantic knowledge from seen classes to unseen ones. Existing attention-based models have struggled to learn inferior region features in a single image by…

Graph pre-training has been concentrated on graph-level tasks involving small graphs (e.g., molecular graphs) or learning node representations on a fixed graph. Extending graph pre-trained models to web-scale graphs with billions of nodes…

Transformers for graph data are increasingly widely studied and successful in numerous learning tasks. Graph inductive biases are crucial for Graph Transformers, and previous works incorporate them using message-passing modules and/or…

Auto-encoders have emerged as a successful framework for unsupervised learning. However, conventional auto-encoders are incapable of utilizing explicit relations in structured data. To take advantage of relations in graph-structured data,…

In many state-of-the-art compression systems, signal transformation is an integral part of the encoding and decoding process, where transforms provide compact representations for the signals of interest. This paper introduces a class of…

Legged robots have unparalleled mobility on unstructured terrains. However, it remains an open challenge to design locomotion controllers that can operate in a large variety of environments. In this paper, we address this challenge of…

Can we teach a robot to recognize and make predictions for activities that it has never seen before? We tackle this problem by learning models for video from text. This paper presents a hierarchical model that generalizes instructional…

In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…

Zero-shot graph machine learning, especially with graph neural networks (GNNs), has garnered significant interest due to the challenge of scarce labeled data. While methods like self-supervised learning and graph prompt learning have been…

In this work, we propose a zero-shot learning method to effectively model knowledge transfer between classes via jointly learning visually consistent word vectors and label embedding model in an end-to-end manner. The main idea is to…

Semantic segmentation, which aims to acquire a detailed understanding of images, is an essential issue in computer vision. However, in practical scenarios, new categories that are different from the categories in training usually appear.…

Graphs are the natural data structure to represent relational and structural information in many domains. To cover the broad range of graph-data applications including graph classification as well as graph generation, it is desirable to…

We present a zero-shot deformation reconstruction framework for soft robots that operates without any visual supervision at inference time. In this work, zero-shot deformation reconstruction is defined as the ability to infer object-wide…

Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap between human and robot in both visual appearance and…

This paper studies the problem of generalized zero-shot learning which requires the model to train on image-label pairs from some seen classes and test on the task of classifying new images from both seen and unseen classes. Most previous…

Many processes in biology and drug discovery involve various 3D interactions between molecules, such as protein and protein, protein and small molecule, etc. Given that different molecules are usually represented in different granularity,…

We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it…

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…