相关论文: RoboHanger: Learning Generalizable Robotic Hanger …

Learning an effective outfit-level representation is critical for predicting the compatibility of items in an outfit, and retrieving complementary items for a partial outfit. We present a framework, OutfitTransformer, that uses the proposed…

Learning generalizable visual representations from Internet data has yielded promising results for robotics. Yet, prevailing approaches focus on pre-training 2D representations, being sub-optimal to deal with occlusions and accurately…

The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both…

Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…

Policy learning for delicate industrial insertion tasks (e.g., PC board assembly) is challenging. This paper considers two major problems: how to learn a diversified policy (instead of just one average policy) that can efficiently handle…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

Many approaches to draping individual garments on human body models are realistic, fast, and yield outputs that are differentiable with respect to the body shape on which they are draped. However, they are either unable to handle…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-to-real have led to tremendous progress. Inspired by such…

Realistic reconstruction of 3D clothing from an image has wide applications, such as avatar creation and virtual try-on. This paper presents a novel framework that reconstructs the texture map for 3D garments from a single image with pose.…

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Virtual try-on is a promising application of computer graphics and human computer interaction that can have a profound real-world impact especially during this pandemic. Existing image-based works try to synthesize a try-on image from a…

Achieving efficient, high-fidelity, high-resolution garment simulation is challenging due to its computational demands. Conversely, low-resolution garment simulation is more accessible and ideal for low-budget devices like smartphones. In…