相关论文: Goal State Generation for Robotic Manipulation Bas…

Cross-embodiment dexterous grasping aims to generate stable and diverse grasps for robotic hands with heterogeneous kinematic structures. Existing methods are often tailored to specific hand designs and fail to generalize to unseen hand…

Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing…

Multi-robot flocking possesses extraordinary advantages over a single-robot system in diverse domains, but it is challenging to ensure safe and optimal performance in congested environments. Hence, this paper is focused on the investigation…

The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics. The dominant approaches for language-guided manipulation use 2D image representations, which face…

Generative Adversarial Networks (GANs) for producing realistic signals, have substantially improved fault diagnosis algorithms in various Internet of Things (IoT) systems. However, challenges such as training instability and dynamical…

In this study, an ergodic environment exploration problem is introduced for a centralized multi-agent system. Given the reference distribution represented by the Mixture of Gaussian (MoG), the ergodicity is achieved when the time-averaged…

We introduce MoS (Mixture of States), a novel fusion paradigm for multimodal diffusion models that merges modalities using flexible, state-based interactions. The core of MoS is a learnable, token-wise router that creates denoising…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

A high-fidelity digital simulation environment is crucial for accurately replicating physical operational processes. However, inconsistencies between simulation and physical environments result in low confidence in simulation outcomes,…

Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize across different embodiments and in-the-wild settings. We build…

Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, their performance heavily depends on the quality of their…

Extrinsic manipulation, the use of environment contacts to achieve manipulation objectives, enables strategies that are otherwise impossible with a parallel jaw gripper. However, orchestrating a long-horizon sequence of contact interactions…

Existing feedforward image-to-3D methods mainly rely on 2D multi-view diffusion models that cannot guarantee 3D consistency. These methods easily collapse when changing the prompt view direction and mainly handle object-centric cases. In…

Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional…

Monitoring contact pressure in hospital beds is essential for preventing pressure ulcers and enabling real-time patient assessment. Current methods can predict pressure maps but often lack physical plausibility, limiting clinical…

In this paper, we propose a unified framework that leverages a single pretrained LLM for Motion-related Multimodal Generation, referred to as MoMug. MoMug integrates diffusion-based continuous motion generation with the model's inherent…

Generating natural hand-object interactions in 3D is challenging as the resulting hand and object motions are expected to be physically plausible and semantically meaningful. Furthermore, generalization to unseen objects is hindered by the…

Diffusion Models represent a significant advancement in generative modeling, employing a dual-phase process that first degrades domain-specific information via Gaussian noise and restores it through a trainable model. This framework enables…

Precise coordinated planning over a forward time window enables safe and highly efficient motion when many robots must work together in tight spaces, but this would normally require centralised control of all devices which is difficult to…

Diffusion models have enabled remarkably high-quality medical image generation, yet it is challenging to enforce anatomical constraints in generated images. To this end, we propose a diffusion model-based method that supports…