相关论文: Open-Vocabulary Mobile Manipulation Based on Doubl…

Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…

Humans universally dislike the task of cleaning up a messy room. If machines were to help us with this task, they must understand human criteria for regular arrangements, such as several types of symmetry, co-linearity or co-circularity,…

Visual speech recognition (VSR) aims to recognize the content of speech based on lip movements, without relying on the audio stream. Advances in deep learning and the availability of large audio-visual datasets have led to the development…

Designing dense rewards is crucial for reinforcement learning (RL), yet in robotics it often demands extensive manual effort and lacks scalability. One promising solution is to view task progress as a dense reward signal, as it quantifies…

Dexterous manipulation tasks involving contact-rich interactions pose a significant challenge for both model-based control systems and imitation learning algorithms. The complexity arises from the need for multi-fingered robotic hands to…

Deep Reinforcement Learning (DRL) has shown great potential in enabling robots to find certain objects (e.g., `find a fridge') in environments like homes or schools. This task is known as Object-Goal Navigation (ObjectNav). DRL methods are…

Referring video object segmentation (R-VOS) is an emerging cross-modal task that aims to segment the target object referred by a language expression in all video frames. In this work, we propose a simple and unified framework built upon…

In domestic environments, robots require a comprehensive understanding of their surroundings to interact effectively and intuitively with untrained humans. In this paper, we propose DVEFormer - an efficient RGB-D Transformer-based approach…

The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…

Open-vocabulary image semantic segmentation (OVS) seeks to segment images into semantic regions across an open set of categories. Existing OVS methods commonly depend on foundational vision-language models and utilize similarity computation…

Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…

This work presents reinforcement learning (RL)-driven data augmentation to improve the generalization of vision-action (VA) models for dexterous grasping. While real-to-sim-to-real frameworks, where a few real demonstrations seed…

Machine translation models have discrete vocabularies and commonly use subword segmentation techniques to achieve an 'open vocabulary.' This approach relies on consistent and correct underlying unicode sequences, and makes models…

Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose high dimensionality includes substantial task-irrelevant…

Understanding human instructions is essential for enabling smooth human-robot interaction. In this work, we focus on object grounding, i.e., localizing an object of interest in a visual scene (e.g., an image) based on verbal human…

There is substantial interest in developing artificial intelligence systems to support radiologists across tasks ranging from segmentation to report generation. Existing computed tomography (CT) foundation models have largely focused on…

Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…

We consider the problem of generating free-form mobile manipulation instructions based on a target object image and receptacle image. Conventional image captioning models are not able to generate appropriate instructions because their…

An increasing number and diversity of services are available, which result in significant challenges to effective reuse service during requirement satisfaction. There have been many service bundle recommendation studies and achieved…

Registration is a fundamental task in medical robotics and is often a crucial step for many downstream tasks such as motion analysis, intra-operative tracking and image segmentation. Popular registration methods such as ANTs and NiftyReg…