相关论文: 3D Dynamics-Aware Manipulation: Endowing Manipulat…

3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…

Humans can effortlessly anticipate how objects might move or change through interaction--imagining a cup being lifted, a knife slicing, or a lid being closed. We aim to endow computational systems with a similar ability to predict plausible…

Despite significant advances in modeling image priors via diffusion models, 3D-aware image editing remains challenging, in part because the object is only specified via a single image. To tackle this challenge, we propose 3D-Fixup, a new…

In-Hand Manipulation, as many other dexterous tasks, remains a difficult challenge in robotics by combining complex dynamic systems with the capability to control and manoeuvre various objects using its actuators. This work presents the…

Nonprehensile manipulation is crucial for handling objects that are too thin, large, or otherwise ungraspable in unstructured environments. While conventional planning-based approaches struggle with complex contact modeling, learning-based…

Modern deep models are trained on large real-world datasets, where data quality varies and redundancy is common. Data-centric approaches such as dataset pruning have shown promise in improving training efficiency and model performance.…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…

We present a data-driven modeling strategy to overcome improperly modeled dynamics for systems exhibiting complex spatio-temporal behaviors. We propose a Deep Learning framework to resolve the differences between the true dynamics of the…

Robotic manipulation policies often degrade over extended horizons, yet existing benchmarks provide limited insight into why such failures occur. Most prior benchmarks are either simulation-based or report aggregate success, making it…

We present a damage-aware planning approach which determines the best sequence to manipulate a number of objects in a scene. This works on task-planning level, abstracts from motion planning and anticipates the dynamics of the scene using a…

Dynamic game theory is an increasingly popular tool for modeling multi-agent, e.g. human-robot, interactions. Game-theoretic models presume that each agent wishes to minimize a private cost function that depends on others' actions. These…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

We tackle the problem of generalization to unseen configurations for dynamic tasks in the real world while learning from high-dimensional image input. The family of nonlinear dynamical system-based methods have successfully demonstrated…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

The 2030 Agenda for Sustainable Development of the United Nations outlines 17 goals as global challenges for countries of the world to address in their development. However, the progress of countries towards these goals has been much slower…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…