相关论文: ProDapt: Proprioceptive Adaptation using Long-term…

Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…

Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…

Combining sparse IMUs and a monocular camera is a new promising setting to perform real-time human motion capture. This paper proposes a diffusion-based solution to learn human motion priors and fuse the two modalities of signals together…

Single-particle traces of the diffusive motion of molecules, cells, or animals are by-now routinely measured, similar to stochastic records of stock prices or weather data. Deciphering the stochastic mechanism behind the recorded dynamics…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

Coordinating navigation and manipulation with robust performance is essential for embodied AI in complex indoor environments. However, as tasks extend over long horizons, existing methods often struggle due to catastrophic forgetting,…

For a robot to learn a good policy, it often requires expensive equipment (such as sophisticated sensors) and a prepared training environment conducive to learning. However, it is seldom possible to perfectly equip robots for economic…

The performance of leaning-based perception algorithms suffer when deployed in out-of-distribution and underrepresented environments. Outdoor robots are particularly susceptible to rapid changes in visual scene appearance due to dynamic…

Diffusion, a fundamental internal mechanism emerging in many physical processes, describes the interaction among different objects. In many learning tasks with limited training samples, the diffusion connects the labeled and unlabeled data…

Recent progress in diffusion models has significantly advanced the field of human image animation. While existing methods can generate temporally consistent results for short or regular motions, significant challenges remain, particularly…

This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Dexterous telemanipulation critically relies on the continuous and stable tracking of the human operator's commands to ensure robust operation. Vison-based tracking methods are widely used but have low stability due to anomalies such as…

Video generation has drawn significant interest recently, pushing the development of large-scale models capable of producing realistic videos with coherent motion. Due to memory constraints, these models typically generate short video…

We present Prompt Diffusion, a framework for enabling in-context learning in diffusion-based generative models. Given a pair of task-specific example images, such as depth from/to image and scribble from/to image, and a text guidance, our…

Diffusion models have emerged as powerful generative priors for high-dimensional inverse problems, yet learning them when only corrupted or noisy observations are available remains challenging. In this work, we propose a new method for…

Video-driven neural face reenactment aims to synthesize realistic facial images that successfully preserve the identity and appearance of a source face, while transferring the target head pose and facial expressions. Existing GAN-based…