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

Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…

Recent years have witnessed the prevailing progress of Generative Adversarial Networks (GANs) in image-to-image translation. However, the success of these GAN models hinges on ponderous computational costs and labor-expensive training data.…

Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…

We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex,…

An open challenge in reinforcement learning (RL) is the effective deployment of a trained policy to new or slightly different situations as well as semantically-similar environments. We introduce Symmetry-Invariant Transformer (SiT), a…

We address the problem of offline learning a policy that avoids undesirable demonstrations. Unlike conventional offline imitation learning approaches that aim to imitate expert or near-optimal demonstrations, our setting involves avoiding…

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections…

We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many applications, ranging from mining and exploration to search…

Generative models trained on internet data have revolutionized how text, image, and video content can be created. Perhaps the next milestone for generative models is to simulate realistic experience in response to actions taken by humans,…

Vision-based tactile sensors have drawn increasing interest in the robotics community. However, traditional lens-based designs impose minimum thickness constraints on these sensors, limiting their applicability in space-restricted settings.…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…

Depth-aware video panoptic segmentation is a promising approach to camera based scene understanding. However, the current state-of-the-art methods require costly video annotations and use a complex training pipeline compared to their…

We introduce UniToken, an auto-regressive generation model that encodes visual inputs through a combination of discrete and continuous representations, enabling seamless integration of unified visual understanding and image generation…

We present UniBind, a flexible and efficient approach that learns a unified representation space for seven diverse modalities -- images, text, audio, point cloud, thermal, video, and event data. Existing works, eg., ImageBind, treat the…

Revealing the hidden patterns shaping the urban environment is essential to understand its dynamics and to make cities smarter. Recent studies have demonstrated that learning the representations of urban regions can be an effective strategy…

This paper investigates two techniques for developing efficient self-supervised vision transformers (EsViT) for visual representation learning. First, we show through a comprehensive empirical study that multi-stage architectures with…

Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…

Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its…

The Vision Transformer (ViT) architecture has become widely recognized in computer vision, leveraging its self-attention mechanism to achieve remarkable success across various tasks. Despite its strengths, ViT's optimization remains…

We propose In-Context Translation (ICT), a general learning framework to unify visual recognition (e.g., semantic segmentation), low-level image processing (e.g., denoising), and conditional image generation (e.g., edge-to-image synthesis).…