相关论文: UniT: Data Efficient Tactile Representation with G…

Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…

All instance perception tasks aim at finding certain objects specified by some queries such as category names, language expressions, and target annotations, but this complete field has been split into multiple independent subtasks. In this…

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

Graph representation learning (GRL) methods, such as graph neural networks and graph transformer models, have been successfully used to analyze graph-structured data, mainly focusing on node classification and link prediction tasks.…

We present X-UniMotion, a unified and expressive implicit latent representation for whole-body human motion, encompassing facial expressions, body poses, and hand gestures. Unlike prior motion transfer methods that rely on explicit skeletal…

Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…

Visual reinforcement learning has proven effective in solving control tasks with high-dimensional observations. However, extracting reliable and generalizable representations from vision-based observations remains a central challenge.…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

The rapid proliferation of generative 3D models has created a critical bottleneck in animation pipelines: rigging. Existing automated methods are fundamentally limited by their approach to skinning, treating it as an ill-posed,…

Traditional user modeling (UM) approaches have primarily focused on designing models for a single specific task, but they face limitations in generalization and adaptability across various tasks. Recognizing these challenges, recent studies…

Animal visual perception is an important technique for automatically monitoring animal health, understanding animal behaviors, and assisting animal-related research. However, it is challenging to design a deep learning-based perception…

Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…

Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolution tactile sensors remains large. Models trained on…

In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of objects with visual perception and, later on, it is able to…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

Large language models have demonstrated impressive universal capabilities across a wide range of open-ended tasks and have extended their utility to encompass multimodal conversations. However, existing methods encounter challenges in…

Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…

We present a method to learn a joint multimodal representation space that enables recognition of unseen activities in videos. We first compare the effect of placing various constraints on the embedding space using paired text and video…

A representation is supposed universal if it encodes any element of the visual world (e.g., objects, scenes) in any configuration (e.g., scale, context). While not expecting pure universal representations, the goal in the literature is to…

Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unified representation that captures the shared information…