相关论文: Coarse-to-Fine 3D Keyframe Transporter

In this paper, we address efficiently and robustly collecting objects stored in different trays using a mobile manipulator. A resolution complete method, based on precomputed reachability database, is proposed to explore collision-free…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

We introduce a simple new method for visual imitation learning, which allows a novel robot manipulation task to be learned from a single human demonstration, without requiring any prior knowledge of the object being interacted with. Our…

The complexity of teaching humanoid robots new tasks is one of the major reasons hindering their widespread adoption in the industry. While Imitation Learning (IL), particularly Action Chunking with Transformers (ACT), enables rapid task…

The optimal mass transport problem gives a geometric framework for optimal allocation, and has recently gained significant interest in application areas such as signal processing, image processing, and computer vision. Even though it can be…

We address the problem of robotic grasping of known and unknown objects using implicit behavior cloning. We train a grasp evaluation model from a small number of demonstrations that outputs higher values for grasp candidates that are more…

Imitation learning (IL) enables robots to acquire human-like motion skills from demonstrations, but it still requires extensive high-quality data and retraining to handle complex or long-horizon tasks. To improve data efficiency and…

The technique requires the epipolar geometry to be pre-estimated between each image pair. It exploits the constraints which the camera movement implies, in order to apply a closed-form correction to the parameters of the input affinities.…

Transformers have proven highly effective across modalities, but standard softmax attention scales quadratically with sequence length, limiting long context modeling. Linear attention mitigates this by approximating attention with kernel…

Inertial confinement fusion (ICF) experiments are designed using computer simulations that are approximations of reality, and therefore must be calibrated to accurately predict experimental observations. In this work, we propose a novel…

While Transformer architectures have show remarkable success, they are bound to the computation of all pairwise interactions of input element and thus suffer from limited scalability. Recent work has been successful by avoiding the…

Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…

Predicting simple function classes has been widely used as a testbed for developing theory and understanding of the trained Transformer's in-context learning (ICL) ability. In this paper, we revisit the training of Transformers on linear…

Transformers have shown a remarkable ability for in-context learning (ICL), making predictions based on contextual examples. However, while theoretical analyses have explored this prediction capability, the nature of the inferred context…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

Task specification for robotic manipulation in open-world environments is challenging, requiring flexible and adaptive objectives that align with human intentions and can evolve through iterative feedback. We introduce Iterative Keypoint…

As a basic component of SE(3)-equivariant deep feature learning, steerable convolution has recently demonstrated its advantages for 3D semantic analysis. The advantages are, however, brought by expensive computations on dense, volumetric…

Estimating a time-varying spatial covariance matrix for a beamforming algorithm is a challenging task, especially for wearable devices, as the algorithm must compensate for time-varying signal statistics due to rapid pose-changes. In this…

Modern motion planners for autonomous driving frequently use imitation learning (IL) to draw from expert driving logs. Although IL benefits from its ability to glean nuanced and multi-modal human driving behaviors from large datasets, the…