相关论文: Object and Contact Point Tracking in Demonstration…

Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…

Interactive Imitation Learning (IIL) is a branch of Imitation Learning (IL) where human feedback is provided intermittently during robot execution allowing an online improvement of the robot's behavior. In recent years, IIL has increasingly…

This work presents DLO-Splatting, an algorithm for estimating the 3D shape of Deformable Linear Objects (DLOs) from multi-view RGB images and gripper state information through prediction-update filtering. The DLO-Splatting algorithm uses a…

Reconstructing dynamic driving scenes is essential for developing autonomous systems through sensor-realistic simulation. Although recent methods achieve high-fidelity reconstructions, they either rely on costly human annotations for object…

This paper focuses on a challenging setting of simultaneously modeling geometry and appearance of hand-object interaction scenes without any object priors. We follow the trend of dynamic 3D Gaussian Splatting based methods, and address…

The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Reliable self-localization is a foundational skill for many intelligent mobile platforms. This paper explores the use of event cameras for motion tracking thereby providing a solution with inherent robustness under difficult dynamics and…

Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…

Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…

3D Gaussian Splatting is a novel method for 3D view synthesis, which can gain an implicit neural learning rendering result than the traditional neural rendering technology but keep the more high-definition fast rendering speed. But it is…

In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…

3D Gaussian Splatting has achieved remarkable success in reconstructing both static and dynamic 3D scenes. However, in a scene represented by 3D Gaussian primitives, interactions between objects suffer from inaccurate 3D segmentation,…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions…