相关论文: MuST: Multi-Head Skill Transformer for Long-Horizo…

Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…

The transfer of a robot skill between different geometric environments is non-trivial since a wide variety of environments exists, sensor observations as well as robot motions are high-dimensional, and the environment might only be…

Spatio-Temporal prediction plays a critical role in smart city construction. Jointly modeling multiple spatio-temporal tasks can further promote an intelligent city life by integrating their inseparable relationship. However, existing…

Mixed Reality (MR) has recently shown great success as an intuitive interface for enabling end-users to teach robots. Related works have used MR interfaces to communicate robot intents and beliefs to a co-located human, as well as developed…

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each new task requires substantial human effort, such as careful…

Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we…

Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search…

Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…

We present a unified perspective on tackling various human-centric video tasks by learning human motion representations from large-scale and heterogeneous data resources. Specifically, we propose a pretraining stage in which a motion…

Humans use different modalities, such as speech, text, images, videos, etc., to communicate their intent and goals with teammates. For robots to become better assistants, we aim to endow them with the ability to follow instructions and…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…

Endowing visual agents with predictive capability is a key step towards video intelligence at scale. The predominant modeling paradigm for this is sequence learning, mostly implemented through LSTMs. Feed-forward Transformer architectures…

Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…

Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…

Neural Style Transfer (NST) refers to a class of algorithms able to manipulate an element, most often images, to adopt the appearance or style of another one. Each element is defined as a combination of Content and Style: the Content can be…

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…