相关论文: FFHFlow: Diverse and Uncertainty-Aware Dexterous G…

The field of general-purpose robotics has recently embraced powerful probabilistic diffusion-based models to learn the complex embodiment behaviours. However, existing models often come with significant trade-offs, namely high computational…

Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an…

Normalizing flow (NF) has gained popularity over traditional maximum likelihood based methods due to its strong capability to model complex data distributions. However, the standard approach, which maps the observed data to a normal…

We present Flow-Guided Density Ratio Learning (FDRL), a simple and scalable approach to generative modeling which builds on the stale (time-independent) approximation of the gradient flow of entropy-regularized f-divergences introduced in…

Flow matching has emerged as a powerful generative framework, with recent few-step methods achieving remarkable inference acceleration. However, we identify a critical yet overlooked limitation: these models suffer from severe diversity…

Deep generative models provide state-of-the-art performance across a wide array of applications, with recent studies showing increasing applicability for science and engineering. Despite a growing corpus of literature focused on the…

Generative modeling has recently shown remarkable promise for visuomotor policy learning, enabling flexible and expressive control across diverse embodied AI tasks. However, existing generative policies often struggle with data…

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…

Flow matching models have emerged as a powerful method for generative modeling on domains like images or videos, and even on irregular or unstructured data like 3D point clouds or even protein structures. These models are commonly trained…

Language models are prone to dataset biases, known as shortcuts and spurious correlations in data, which often result in performance drop on new data. We present a new debiasing framework called ``FairFlow'' that mitigates dataset biases by…

Deep learning-based surface electromyography (sEMG) gesture recognition is frequently bottlenecked by data scarcity and limited subject diversity. While synthetic data generation via Generative Adversarial Networks (GANs) and diffusion…

Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the guidance information excavated from global semantics, thus…

Video Diffusion Models (VDMs) can generate high-quality videos, but often struggle with producing temporally coherent motion. Optical flow supervision is a promising approach to address this, with prior works commonly employing…

Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models face two limitations. They typically act only on the…

Current discriminative depth estimation methods often produce blurry artifacts, while generative approaches suffer from slow sampling due to curvatures in the noise-to-depth transport. Our method addresses these challenges by framing depth…

We present a method for planning robust grasps over uncertain shape completed objects. For shape completion, a deep neural network is trained to take a partial view of the object as input and outputs the completed shape as a voxel grid. The…

Robotic dexterous grasping is the first step to enable human-like dexterous object manipulation and thus a crucial robotic technology. However, dexterous grasping is much more under-explored than object grasping with parallel grippers,…

Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse contact realizations. Risk-sensitive…

Flow matching has recently emerged as a promising alternative to diffusion-based generative models, offering faster sampling and simpler training by learning continuous flows governed by ordinary differential equations. Despite growing…

Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize across different embodiments and in-the-wild settings. We build…