相关论文: Lightweight Language-driven Grasp Detection using …

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

Diffusion models have shown remarkable progress in various generative tasks such as image and video generation. This paper studies the problem of leveraging pretrained diffusion models for performing discriminative tasks. Specifically, we…

Controllable image synthesis with user scribbles has gained huge public interest with the recent advent of text-conditioned latent diffusion models. The user scribbles control the color composition while the text prompt provides control…

Diffusion models when conditioned on text prompts, generate realistic-looking images with intricate details. But most of these pre-trained models fail to generate accurate images when it comes to human features like hands, teeth, etc. We…

Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force equilibrium. To assess stability, existing…

Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…

Starting with a collection of traces generated by process executions, process discovery is the task of constructing a simple model that describes the process, where simplicity is often measured in terms of model size. The challenge of…

With the rapid development of deep learning, existing generative text steganography methods based on autoregressive models have achieved success. However, these autoregressive steganography approaches have certain limitations. Firstly,…

We introduce a novel, training-free method for sampling differentiable representations (diffreps) using pretrained diffusion models. Rather than merely mode-seeking, our method achieves sampling by "pulling back" the dynamics of the…

In this paper, we focus on Dynamic Execution techniques that optimize the computation flow based on input. This aims to identify simpler problems that can be solved using fewer resources, similar to human cognition. The techniques discussed…

Visual prediction models are a promising solution for visual-based robotic grasping of cluttered, unknown soft objects. Previous models from the literature are computationally greedy, which limits reproducibility; although some consider…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Existing approaches in disfluency detection focus on solving a token-level classification task for identifying and removing disfluencies in text. Moreover, most works focus on leveraging only contextual information captured by the linear…

Robotic manipulation of unseen objects via natural language commands remains challenging. Language driven robotic grasping (LDRG) predicts stable grasp poses from natural language queries and RGB-D images. We propose MapleGrasp, a novel…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

Can continuous diffusion models bring the same performance breakthrough on natural language they did for image generation? To circumvent the discrete nature of text data, we can simply project tokens in a continuous space of embeddings, as…

Advances in robot learning have enabled robots to generate skills for a variety of tasks. Yet, robot learning is typically sample inefficient, struggles to learn from data sources exhibiting varied behaviors, and does not naturally…