相关论文: Grounded Task Axes: Zero-Shot Semantic Skill Gener…

Transferring the pose of a reference avatar to stylized 3D characters of various shapes is a fundamental task in computer graphics. Existing methods either require the stylized characters to be rigged, or they use the stylized character in…

In this work we present a method for leveraging data from one source to learn how to do multiple new tasks. Task transfer is achieved using a self-model that encapsulates the dynamics of a system and serves as an environment for…

This work explores the zero-shot adaptation capability of semantic skills, semantically interpretable experts' behavior patterns, in cross-domain settings, where a user input in interleaved multi-modal snippets can prompt a new long-horizon…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit…

In reinforcement learning for visual navigation, it is common to develop a model for each new task, and train that model from scratch with task-specific interactions in 3D environments. However, this process is expensive; massive amounts of…

Robotic manipulation policies often struggle to generalize to novel objects, limiting their real-world utility. In contrast, cognitive science suggests that children develop generalizable dexterous manipulation skills by mastering a small…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

The extraction of modular object-centric representations for downstream tasks is an emerging area of research. Learning grounded representations of objects that are guaranteed to be stable and invariant promises robust performance across…

This work introduces a model that can recognize objects in images even if no training data is available for the objects. The only necessary knowledge about the unseen categories comes from unsupervised large text corpora. In our zero-shot…

A long-standing challenge for a robotic manipulation system operating in real-world scenarios is adapting and generalizing its acquired motor skills to unseen environments. We tackle this challenge employing hybrid skill models that…

Single-domain generalized object detection aims to enhance a model's generalizability to multiple unseen target domains using only data from a single source domain during training. This is a practical yet challenging task as it requires the…

The need to address the scarcity of task-specific annotated data has resulted in concerted efforts in recent years for specific settings such as zero-shot learning (ZSL) and domain generalization (DG), to separately address the issues of…

Developing mechanisms that flexibly adapt dialog systems to unseen tasks and domains is a major challenge in dialog research. Neural models implicitly memorize task-specific dialog policies from the training data. We posit that this…

Learning motion policies from expert demonstrations is an essential paradigm in modern robotics. While end-to-end models aim for broad generalization, they require large datasets and computationally heavy inference. Conversely, learning…

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…

Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize across diverse objects and task instructions, as they…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Simulation-to-simulation and simulation-to-real world transfer of neural network models have been a difficult problem. To close the reality gap, prior methods to simulation-to-real world transfer focused on domain adaptation, decoupling…