相关论文: MatchMaker: Automated Asset Generation for Robotic…

Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-horizon tasks. To address this issue, we propose SkillMimicGen…

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…

Collaborative robots are increasingly popular for assisting humans at work and daily tasks. However, designing and setting up interfaces for human-robot collaboration is challenging, requiring the integration of multiple components, from…

We present a system that transforms speech into physical objects using 3D generative AI and discrete robotic assembly. By leveraging natural language, the system makes design and manufacturing more accessible to people without expertise in…

Rigging and skinning are essential steps to create realistic 3D animations, often requiring significant expertise and manual effort. Traditional attempts at automating these processes rely heavily on geometric heuristics and often struggle…

We present a task-aware approach to synthetic data generation. Our framework employs a trainable synthesizer network that is optimized to produce meaningful training samples by assessing the strengths and weaknesses of a `target' network.…

3D generative AI enables rapid and accessible creation of 3D models from text or image inputs. However, translating these outputs into physical objects remains a challenge due to the constraints in the physical world. Recent studies have…

We introduce AnyUser, a unified robotic instruction system for intuitive domestic task instruction via free-form sketches on camera images, optionally with language. AnyUser interprets multimodal inputs (sketch, vision, language) as…

To enable automatic disassembly of different product types with uncertain conditions and degrees of wear in remanufacturing, agile production systems that can adapt dynamically to changing requirements are needed. Machine learning…

We present Sadcher, a real-time task assignment framework for heterogeneous multi-robot teams that incorporates dynamic coalition formation and task precedence constraints. Sadcher is trained through Imitation Learning and combines graph…

Assistants on assembly tasks show great potential to benefit humans ranging from helping with everyday tasks to interacting in industrial settings. However, evaluation resources in assembly activities are underexplored. To foster system…

Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…

In domains ranging from computer vision to natural language processing, machine learning models have been shown to exhibit stark disparities, often performing worse for members of traditionally underserved groups. One factor contributing to…

Traditional language-conditioned manipulation agent sequential adaptation to new manipulation skills leads to catastrophic forgetting of old skills, limiting dynamic scene practical deployment. In this paper, we propose SkillsCrafter, a…

Traditional approaches to training agents have generally involved a single, deterministic environment of minimal complexity to solve various tasks such as robot locomotion or computer vision. However, agents trained in static environments…

Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…

Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent the foundational physical constraints of…

Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…

Adequate sampling space coverage is the keystone to effectively train trustworthy Machine Learning models. Unfortunately, real data do carry several inherent risks due to the many potential biases they exhibit when gathered without a proper…

Smart meter data is the foundation for planning and operating the distribution network. Unfortunately, such data are not always available due to privacy regulations. Meanwhile, the collected data may be corrupted due to sensor or…