相关论文: Blox-Net: Generative Design-for-Robot-Assembly Usi…

Complex manipulation tasks can contain various execution branches of primitive skills in sequence or in parallel under different scenarios. Manual specifications of such branching conditions and associated skill parameters are not only…

The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this…

Layout designs are encountered in a variety of fields. For problems with many design degrees of freedom, efficiency of design methods becomes a major concern. In recent years, machine learning methods such as artificial neural networks have…

Generalist robot policies trained on large-scale, visually homogeneous datasets can be susceptible to shortcut learning, which impairs their out-of-distribution (OOD) generalization. While generative data augmentation is a common approach…

In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…

When designing robots to assist in everyday human activities, it is crucial to enhance user requests with visual cues from their surroundings for improved intent understanding. This process is defined as a multimodal classification task.…

Completing complex tasks in unpredictable settings like home kitchens challenges robotic systems. These challenges include interpreting high-level human commands, such as "make me a hot beverage" and performing actions like pouring a…

Scalable generation of furniture layouts is essential for many applications in virtual reality, augmented reality, game development and synthetic data generation. Many existing methods tackle this problem as a sequence generation problem…

We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-based tasks, they inherently lack provable guarantees on the correctness of their output,…

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…

Parametric Computer-Aided Design (CAD) is central to contemporary mechanical design. However, it encounters challenges in achieving precise parametric sketch modeling and lacks practical evaluation metrics suitable for mechanical design. We…

Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we focus on the problem of building physically-valid structures…

Text-to-image models are powerful tools for image creation. However, the generation process is akin to a dice roll and makes it difficult to achieve a single image that captures everything a user wants. In this paper, we propose a framework…

This paper introduces the open-source framework, GIRA, which implements fundamental robotics algorithms for reconstruction, pose estimation, and occupancy modeling using compact generative models. Compactness enables perception in the large…

Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…

When translating UI design prototypes to code in industry, automatically generating code from design prototypes can expedite the development of applications and GUI iterations. However, in design prototypes without strict design…

Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…

Automated design synthesis has the potential to revolutionize the modern engineering design process and improve access to highly optimized and customized products across countless industries. Successfully adapting generative Machine…

We propose "Generative Fusion Decoding" (GFD), a novel shallow fusion framework designed to integrate large language models (LLMs) into cross-modal text recognition systems for automatic speech recognition (ASR) and optical character…

Tangram assembly, the art of human intelligence and manipulation dexterity, is a new challenge for robotics and reveals the limitations of state-of-the-arts. Here, we describe our initial exploration and highlight key problems in reasoning,…