相关论文: EqvAfford: SE(3) Equivariance for Point-Level Affo…

We present AnchorDP3, a diffusion policy framework for dual-arm robotic manipulation that achieves state-of-the-art performance in highly randomized environments. AnchorDP3 integrates three key innovations: (1) Simulator-Supervised Semantic…

Visual affordance learning is crucial for robots to understand and interact effectively with the physical world. Recent advances in this field attempt to leverage pre-trained knowledge of vision-language foundation models to learn…

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…

Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

Acquiring knowledge about object interactions and affordances can facilitate scene understanding and human-robot collaboration tasks. As humans tend to use objects in many different ways depending on the scene and the objects' availability,…

When manipulating three-dimensional data, it is possible to ensure that rotational and translational symmetries are respected by applying so-called SE(3)-equivariant models. Protein structure prediction is a prominent example of a task…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The proposed approach provides direct information about what the…

Incorporating inductive biases is a promising approach for tackling challenging robot learning domains with sample-efficient solutions. This paper identifies partially observable domains where symmetries can be a useful inductive bias for…

In applications of deep reinforcement learning to robotics, it is often the case that we want to learn pose invariant policies: policies that are invariant to changes in the position and orientation of objects in the world. For example,…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

From early image processing to modern computational imaging, successful models and algorithms have relied on a fundamental property of natural signals: symmetry. Here symmetry refers to the invariance property of signal sets to…

Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…

The ability to understand the ways to interact with objects from visual cues, a.k.a. visual affordance, is essential to vision-guided robotic research. This involves categorizing, segmenting and reasoning of visual affordance. Relevant…

Affordances, a foundational concept in human-computer interaction and design, have traditionally been explained by direct-perception theories, which assume that individuals perceive action possibilities directly from the environment.…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…