相关论文: DAP: Diffusion-based Affordance Prediction for Mul…

Large-scale multi-objective optimization poses challenges to existing evolutionary algorithms in maintaining the performances of convergence and diversity because of high dimensional decision variables. Inspired by the motion of particles…

Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…

The multistage robust unit commitment (UC) is of paramount importance for achieving reliable operations considering the uncertainty of renewable realizations. The typical affine decision rule method and the robust feasible region method may…

This paper studies Distributionally Robust Optimization (DRO), a fundamental framework for enhancing the robustness and generalization of statistical learning and optimization. An effective ambiguity set for DRO must involve distributions…

Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose high dimensionality includes substantial task-irrelevant…

Object detectors often suffer a decrease in performance due to the large domain gap between the training data (source domain) and real-world data (target domain). Diffusion-based generative models have shown remarkable abilities in…

We propose a simple, efficient, yet powerful framework for dense visual predictions based on the conditional diffusion pipeline. Our approach follows a "noise-to-map" generative paradigm for prediction by progressively removing noise from a…

The online 3D bin packing problem is important in logistics, warehousing and intelligent manufacturing, with solutions shifting to deep reinforcement learning (DRL) which faces challenges like low sample efficiency. This paper proposes a…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Understanding fine-grained object affordances is imperative for robots to manipulate objects in unstructured environments given open-ended task instructions. However, existing methods of visual affordance predictions often rely on manually…

Object rearrangement, a fundamental challenge in robotics, demands versatile strategies to handle diverse objects, configurations, and functional needs. To achieve this, the AI robot needs to learn functional rearrangement priors in order…

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…

Affordance prediction serves as a critical bridge between perception and action in embodied AI. However, existing research is confined to pinhole camera models, which suffer from narrow Fields of View (FoV) and fragmented observations,…

Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…

Dynamic mode decomposition (DMD) provides a regression framework for adaptively learning a best-fit linear dynamics model over snapshots of temporal, or spatio-temporal, data. A diversity of regression techniques have been developed for…

Diffusion models have emerged as powerful generative frameworks by progressively adding noise to data through a forward process and then reversing this process to generate realistic samples. While these models have achieved strong…

Gasoline blending scheduling uses resource allocation and operation sequencing to meet a refinery's production requirements. The presence of nonlinearity, integer constraints, and a large number of decision variables adds complexity to this…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…

Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…

Diffusion Probabilistic Models (DPMs) have achieved significant success in generative tasks. However, their training and sampling processes suffer from the issue of distribution mismatch. During the denoising process, the input data…