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

Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for efficient representation and online generation of hitting…

Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics…

The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…

Roadside perception is a key component in intelligent transportation systems. In this paper, we present a novel three-dimensional (3D) extended object tracking (EOT) method, which simultaneously estimates the object kinematics and extent…

Robotic manipulation of unknown objects is an important field of research. Practical applications occur in many real-world settings where robots need to interact with an unknown environment. We tackle the problem of reactive grasping by…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

Data-driven learning approaches for physics simulation, sometimes referred to as world models, have emerged as promising alternatives to traditional physics simulators due to their differentiable nature. Prior work has demonstrated…

3D multi-object tracking (MOT) is a key problem for autonomous vehicles, required to perform well-informed motion planning in dynamic environments. Particularly for densely occupied scenes, associating existing tracks to new detections…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Human activities are inherently complex, often involving numerous object interactions. To better understand these activities, it is crucial to model their interactions with the environment captured through dynamic changes. The recent…

Simultaneously localizing camera poses and constructing Gaussian radiance fields in dynamic scenes establish a crucial bridge between 2D images and the 4D real world. Instead of removing dynamic objects as distractors and reconstructing…

3D Gaussian Splatting has recently shown promising results as an alternative scene representation in SLAM systems to neural implicit representations. However, current methods either lack dense depth maps to supervise the mapping process or…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

We consider the problem of visual imitation learning without human supervision (e.g. kinesthetic teaching or teleoperation), nor access to an interactive reinforcement learning (RL) training environment. We present a geometric perspective…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

Imitation Learning (IL) algorithms offer an efficient way to train an agent by mimicking an expert's behavior without requiring a reward function. IL algorithms often necessitate access to state and action information from expert…

Gaussian splatting has emerged as a powerful tool for high-fidelity reconstruction of dynamic scenes. However, existing methods primarily rely on implicit motion representations, such as encoding motions into neural networks or per-Gaussian…

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…