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

This paper introduces SoccerDiffusion, a transformer-based diffusion model designed to learn end-to-end control policies for humanoid robot soccer directly from real-world gameplay recordings. Using data collected from RoboCup competitions,…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

Diffusion models have demonstrated remarkable efficacy in generating high-quality samples. Existing diffusion-based image restoration algorithms exploit pre-trained diffusion models to leverage data priors, yet they still preserve elements…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

Humanoid robots can benefit from their similarity to the human shape by learning from humans. When humans teach other humans how to perform actions, they often demonstrate the actions, and the learning human imitates the demonstration to…

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase…

When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…

We introduce a general self-supervised approach to predict the future outputs of a short-range sensor (such as a proximity sensor) given the current outputs of a long-range sensor (such as a camera); we assume that the former is directly…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

Remote sensing image change description represents an innovative multimodal task within the realm of remote sensing processing.This task not only facilitates the detection of alterations in surface conditions, but also provides…

Intelligent agents, such as robots and virtual agents, must understand the dynamics of complex social interactions to interact with humans. Effectively representing social dynamics is challenging because we require multi-modal, synchronized…

Traditional point-based image editing methods rely on iterative latent optimization or geometric transformations, which are either inefficient in their processing or fail to capture the semantic relationships within the image. These methods…

Learning from demonstrations (LfD) has successfully trained robots to exhibit remarkable generalization capabilities. However, many powerful imitation techniques do not prioritize the feasibility of the robot behaviors they generate. In…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

We present SlotAdapt, an object-centric learning method that combines slot attention with pretrained diffusion models by introducing adapters for slot-based conditioning. Our method preserves the generative power of pretrained diffusion…

The growing adoption of batteries in the electric vehicle industry and various consumer products has created an urgent need for effective recycling solutions. These products often contain a mix of compliant and rigid components, making…

Learning from a large corpus of data, pre-trained models have achieved impressive progress nowadays. As popular generative pre-training, diffusion models capture both low-level visual knowledge and high-level semantic relations. In this…

Denoising diffusion probabilistic models that were initially proposed for realistic image generation have recently shown success in various perception tasks (e.g., object detection and image segmentation) and are increasingly gaining…