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

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don't guarantee such generalization. Our insight is to add…

While natural language offers a convenient shared interface for humans and robots, enabling robots to interpret and follow language commands remains a longstanding challenge in manipulation. A crucial step to realizing a performant…

Most existing methods in vision-language retrieval match two modalities by either comparing their global feature vectors which misses sufficient information and lacks interpretability, detecting objects in images or videos and aligning the…

Deriving sophisticated 3D motions from sparse keyframes is a particularly challenging problem, due to continuity and exceptionally skeletal precision. The action features are often derivable accurately from the full series of keyframes, and…

Effectively handling the interplay between spatial perception and action generation remains a critical bottleneck in robotic manipulation. Existing methods typically treat spatial perception and action execution as decoupled or strictly…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Imitation Learning (IL) is a powerful paradigm to teach robots to perform manipulation tasks by allowing them to learn from human demonstrations collected via teleoperation, but has mostly been limited to single-arm manipulation. However,…

In many real-world visual Imitation Learning (IL) scenarios, there is a misalignment between the agent's and the expert's perspectives, which might lead to the failure of imitation. Previous methods have generally solved this problem by…

Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…

Traditional learning systems are trained in closed-world for a fixed number of classes, and need pre-collected datasets in advance. However, new classes often emerge in real-world applications and should be learned incrementally. For…

3D hand pose estimation is a long-standing challenge in both robotics and computer vision communities due to its implicit depth ambiguity and often strong self-occlusion. Recently, in addition to the hand skeleton, jointly estimating hand…

Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…

Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…

Passage retrieval is a fundamental task in many information systems, such as web search and question answering, where both efficiency and effectiveness are critical concerns. In recent years, neural retrievers based on pre-trained language…

Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…

Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…

Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…

In-context imitation learning (ICIL) is a new paradigm that enables robots to generalize from demonstrations to unseen tasks without retraining. A well-structured action representation is the key to capturing demonstration information…

Action representation is an important yet often overlooked aspect in end-to-end robot learning with deep networks. Choosing one action space over another (e.g. target joint positions, or Cartesian end-effector poses) can result in…