相关论文: Spatial-Temporal Graph Diffusion Policy with Kinem…

Accurate traffic forecasting is essential for effective urban planning and congestion management. Deep learning (DL) approaches have gained colossal success in traffic forecasting but still face challenges in capturing the intricacies of…

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…

Probabilistic human motion prediction aims to forecast multiple possible future movements from past observations. While current approaches report high diversity and realism, they often generate motions with undetected limb stretching and…

Despite the fact that visuomotor-based policies obtained via imitation learning demonstrate good performances in complex manipulation tasks, they usually struggle to achieve the same accuracy and speed as traditional control based methods.…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensional spaces, considering both static and dynamic environments…

This paper proposes a two-stage framework named ST-PAD for spatio-temporal fluid dynamics modeling in the field of earth sciences, aiming to achieve high-precision simulation and prediction of fluid dynamics through spatio-temporal physics…

Equipping autonomous robots with the ability to navigate safely and efficiently around humans is a crucial step toward achieving trusted robot autonomy. However, generating robot plans while ensuring safety in dynamic multi-agent…

Spatial-temporal graph learning has emerged as a promising solution for modeling structured spatial-temporal data and learning region representations for various urban sensing tasks such as crime forecasting and traffic flow prediction.…

Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their…

Recognizing surgical gestures in real-time is a stepping stone towards automated activity recognition, skill assessment, intra-operative assistance, and eventually surgical automation. The current robotic surgical systems provide us with…

Diffusion models, praised for their success in generative tasks, are increasingly being applied to robotics, demonstrating exceptional performance in behavior cloning. However, their slow generation process stemming from iterative denoising…

Predicting future frames of a video is challenging because it is difficult to learn the uncertainty of the underlying factors influencing their contents. In this paper, we propose a novel video prediction model, which has…

Deep spatiotemporal models are used in a variety of computer vision tasks, such as action recognition and video object segmentation. Currently, there is a limited understanding of what information is captured by these models in their…

Humans can accomplish complex contact-rich tasks using vision and touch, with highly reactive capabilities such as fast response to external changes and adaptive control of contact forces; however, this remains challenging for robots.…

Although dynamic scene reconstruction has long been a fundamental challenge in 3D vision, the recent emergence of 3D Gaussian Splatting (3DGS) offers a promising direction by enabling high-quality, real-time rendering through explicit…

Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for acquiring this capability, existing approaches, whether…

This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…

High-fidelity numerical simulations of chaotic, high dimensional nonlinear dynamical systems are computationally expensive, necessitating the development of efficient surrogate models. Most surrogate models for such systems are…

This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…