相关论文: ManipDreamer: Boosting Robotic Manipulation World …

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…

Achieving physically accurate object manipulation in image editing is essential for its potential applications in interactive world models. However, existing visual generative models often fail at precise spatial manipulation, resulting in…

Existing robot video world models are typically trained with low-level objectives such as reconstruction and perceptual similarity, which are poorly aligned with the capabilities that matter most for robot decision making, including…

Real-world instructional videos are long, noisy, and often contain extended background segments, repeated actions, and execution variability that do not correspond to meaningful procedural steps. We propose **REMAP**, an unsupervised…

Model-based reinforcement learning (MBRL) techniques have recently yielded promising results for real-world autonomous racing using high-dimensional observations. MBRL agents, such as Dreamer, solve long-horizon tasks by building a world…

Meta reinforcement learning (Meta RL) has been amply explored to quickly learn an unseen task by transferring previously learned knowledge from similar tasks. However, most state-of-the-art algorithms require the meta-training tasks to have…

Service robots should be able to interact naturally with non-expert human users, not only to help them in various tasks but also to receive guidance in order to resolve ambiguities that might be present in the instruction. We consider the…

While success in many robotics tasks can be determined by only observing the final state and how it differs from the initial state - e.g., if an apple is picked up - many tasks require observing the full motion of the robot to correctly…

Contrastive language image pretraining (CLIP) encoders have been shown to be beneficial for a range of visual tasks from classification and detection to captioning and image manipulation. We investigate the effectiveness of CLIP visual…

Recent advances in imitation learning have shown great promise for developing robust robot manipulation policies from demonstrations. However, this promise is contingent on the availability of diverse, high-quality datasets, which are not…

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…

Language-Guided Robotic Manipulation (LGRM) is a challenging task as it requires a robot to understand human instructions to manipulate everyday objects. Recent approaches in LGRM rely on pre-trained Visual Grounding (VG) models to detect…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiments. Existing approaches face a dilemma: imitation policy…

Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Recent advancements in predictive models have demonstrated exceptional capabilities in predicting the future state of objects and scenes. However, the lack of categorization based on inherent characteristics continues to hinder the progress…

Camera-controlled generative video re-rendering methods, such as ReCamMaster, have achieved remarkable progress. However, despite their success in single-view setting, these works often struggle to maintain consistency across multi-view…

Enabling robots to grasp and reposition human limbs can significantly enhance their ability to provide assistive care to individuals with severe mobility impairments, particularly in tasks such as robot-assisted bed bathing and dressing.…

Recent advancements in instruction-based image editing and subject-driven generation have garnered significant attention, yet both tasks still face limitations in meeting practical user needs. Instruction-based editing relies solely on…