相关论文: Affordance-based Robot Manipulation with Flow Matc…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

Inferring the affordance of an object and grasping it in a task-oriented manner is crucial for robots to successfully complete manipulation tasks. Affordance indicates where and how to grasp an object by taking its functionality into…

Affordance refers to the functional properties that an agent perceives and utilizes from its environment, and is key perceptual information required for robots to perform actions. This information is rich and multimodal in nature. Existing…

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are…

Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…

Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of human-robot interaction, human-object interaction, embodied…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods…

In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed affordance constraints, of the objects involved. Affordance…

Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance,…

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…

Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…

Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from…

Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity. Leveraging powerful 3D generative models and vision…

Object affordance reasoning, the ability to infer object functionalities based on physical properties, is fundamental for task-oriented planning and activities in both humans and Artificial Intelligence (AI). This capability, required for…