相关论文: Motion Before Action: Diffusing Object Motion as M…

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…

We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they…

As a robot senses and selects actions, the world keeps changing. This inference delay creates a gap of tens to hundreds of milliseconds between the observed state and the state at execution. In this work, we take the natural generalization…

Motion sensing and tracking with IMU data is essential for spatial intelligence, which however is challenging due to the presence of time-varying stochastic bias. IMU bias is affected by various factors such as temperature and vibration,…

Diffusion models have emerged as a widely utilized and successful methodology in human motion synthesis. Task-oriented diffusion models have significantly advanced action-to-motion, text-to-motion, and audio-to-motion applications. In this…

Learning to interact with the environment not only empowers the agent with manipulation capability but also generates information to facilitate building of action understanding and imitation capabilities. This seems to be a strategy adopted…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Dexterous in-hand manipulation is a long-standing challenge in robotics due to complex contact dynamics and partial observability. While humans synergize vision and touch for such tasks, robotic approaches often prioritize one modality,…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…

Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored leveraging human data to alleviate this…

In the field of robot learning, coordinating robot actions through language instructions is becoming increasingly feasible. However, adapting actions to human instructions remains challenging, as such instructions are often qualitative and…

Recent advancements in imitation learning, particularly with the integration of LLM techniques, are set to significantly improve robots' dexterity and adaptability. This paper proposes using Mamba, a state-of-the-art architecture with…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods typically prioritize efficiency, they often fail to make the…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…