相关论文: Manual-PA: Learning 3D Part Assembly from Instruct…

Real-time conversational assistants for procedural tasks often depend on video input, which can be computationally expensive and compromise user privacy. For the first time, we propose a real-time conversational assistant that provides…

In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation…

Diffusion models (DMs) have achieved remarkable success in image and video generation. However, they still struggle with (1) physical alignment and (2) out-of-distribution (OOD) instruction following. We argue that these issues stem from…

The identification of deterministic finite automata (DFAs) from labeled examples is a cornerstone of automata learning, yet traditional methods focus on learning monolithic DFAs, which often yield a large DFA lacking simplicity and…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…

Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…

This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different…

Acquisition and creation of 3D assets have been largely view- or appearance-driven. As a result, existing digital 3D models often lack the requisite structural components to function as intended, such as joints, supports, interiors, or…

We present a novel approach to detect, segment, and reconstruct complete textured 3D models of vehicles from a single image for autonomous driving. Our approach combines the strengths of deep learning and the elegance of traditional…

Discovering 3D arrangements of objects from single indoor images is important given its many applications including interior design, content creation, etc. Although heavily researched in the recent years, existing approaches break down…

Foundation models pre-trained on web-scale data are shown to encapsulate extensive world knowledge beneficial for robotic manipulation in the form of task planning. However, the actual physical implementation of these plans often relies on…

To enable a mobile manipulator to perform human tasks from a single teaching demonstration is vital to flexible manufacturing. We call our proposed method MMPA (Mobile Manipulator Process Automation with One-shot Teaching). Currently, there…

Commonly used linear and nonlinear constitutive material models in deformation simulation contain many simplifications and only cover a tiny part of possible material behavior. In this work we propose a framework for learning customized…

Deep Learning (DL) models are becoming larger, because the increase in model size might offer significant accuracy gain. To enable the training of large deep networks, data parallelism and model parallelism are two well-known approaches for…

Neural shape models can represent complex 3D shapes with a compact latent space. When applied to dynamically deforming shapes such as the human hands, however, they would need to preserve temporal coherence of the deformation as well as the…

Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…

The sequence in which a complex product is assembled directly impacts the ease and efficiency of the assembly process, whether executed by a human or a robot. A sequence that gives the assembler the greatest freedom of movement is therefore…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

This paper addresses the problem of copying an unknown assembly of primitives with known shape and appearance using information extracted from a single photograph by an off-the-shelf procedure for object detection and pose estimation. The…