相关论文: Precise Mobile Manipulation of Small Everyday Obje…

Visual features can help predict if a manipulation behavior will succeed at a given location. For example, the success of a behavior that flips light switches depends on the location of the switch. Within this paper, we present methods that…

Vision-Language Models (VLMs) often struggle with tasks that require fine-grained image understanding, such as scene-text recognition or document analysis, due to perception limitations and visual fragmentation. To address these challenges,…

In this paper, we address the basic problem of recognizing moving objects in video images using Visual Vocabulary model and Bag of Words and track our object of interest in the subsequent video frames using species inspired PSO. Initially,…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

The integration of language instructions with robotic control, particularly through Vision Language Action (VLA) models, has shown significant potential. However, these systems are often hindered by high computational costs, the need for…

Open-world object counting leverages the robust text-image alignment of pre-trained vision-language models (VLMs) to enable counting of arbitrary categories in images specified by textual queries. However, widely adopted naive fine-tuning…

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…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

With recent progress in joint modeling of visual and textual representations, Vision-Language Pretraining (VLP) has achieved impressive performance on many multimodal downstream tasks. However, the requirement for expensive annotations…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Vision-Language-Action (VLA) and imitation-learning policies trained via community toolchains on low-cost hardware frequently fail when deployed outside the training environment. Existing evaluations, including the original ACT and SmolVLA…

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…

Combining simple architectures with large-scale pre-training has led to massive improvements in image classification. For object detection, pre-training and scaling approaches are less well established, especially in the long-tailed and…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Recent generalist vision-language models (VLMs) have demonstrated impressive reasoning capabilities across diverse multimodal tasks. However, these models still struggle with fine-grained object-level understanding and grounding. In terms…

Understanding dynamics from visual observations is a challenging problem that requires disentangling individual objects from the scene and learning their interactions. While recent object-centric models can successfully decompose a scene…

Visual Semantic Embedding (VSE) models, which map images into a rich semantic embedding space, have been a milestone in object recognition and zero-shot learning. Current approaches to VSE heavily rely on static word em-bedding techniques.…

Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…

Support vector machines (SVMs) are well-studied supervised learning models for binary classification. In many applications, large amounts of samples can be cheaply and easily obtained. What is often a costly and error-prone process is to…

The present paper proposes optimization-based solutions to visual SLAM with a vehicle-mounted surround-view camera system. Owing to their original use-case, such systems often only contain a single camera facing into either direction and…