相关论文: EquAct: An SE(3)-Equivariant Multi-Task Transforme…

Editing a 3D indoor scene from natural language is conceptually straightforward but technically challenging. Existing open-vocabulary systems often regenerate large portions of a scene or rely on image-space edits that disrupt spatial…

Current language-guided robotic manipulation systems often require low-level action-labeled datasets for imitation learning. While object-centric flow prediction methods mitigate this issue, they remain limited to scenarios involving rigid…

Rotation-invariance is a desired property of machine-learning models for medical image analysis and in particular for computational pathology applications. We propose a framework to encode the geometric structure of the special Euclidean…

Recent advances in multi-agent reinforcement learning have been largely limited in training one model from scratch for every new task. The limitation is due to the restricted model architecture related to fixed input and output dimensions.…

This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple…

Vision-language models (VLMs) have demonstrated remarkable capabilities in robotic planning, particularly for long-horizon tasks that require a holistic understanding of the environment for task decomposition. Existing methods typically…

Currently, human-bot symbiosis dialog systems, e.g., pre- and after-sales in E-commerce, are ubiquitous, and the dialog routing component is essential to improve the overall efficiency, reduce human resource cost, and enhance user…

3D Convolutional Neural Networks are sensitive to transformations applied to their input. This is a problem because a voxelized version of a 3D object, and its rotated clone, will look unrelated to each other after passing through to the…

State-of-the-art deep learning systems often require large amounts of data and computation. For this reason, leveraging known or unknown structure of the data is paramount. Convolutional neural networks (CNNs) are successful examples of…

We propose a novel framework for learning high-level cognitive capabilities in robot manipulation tasks, such as making a smiley face using building blocks. These tasks often involve complex multi-step reasoning, presenting significant…

In neural networks, the property of being equivariant to transformations improves generalization when the corresponding symmetry is present in the data. In particular, scale-equivariant networks are suited to computer vision tasks where the…

This work seeks to improve the generalization and robustness of existing neural networks for 3D point clouds by inducing group equivariance under general group transformations. The main challenge when designing equivariant models for point…

Transformers achieve strong performance across diverse domains but implicitly assume Euclidean geometry in their attention mechanisms, limiting their effectiveness on data with non-Euclidean structure. While recent extensions to hyperbolic…

Vision-and-Language Navigation (VLN) aims to enable an embodied agent to follow natural-language instructions and navigate to a target location in unseen 3D environments. We argue that adapting VLMs to VLN requires endowing them with two…

For iterative learning control (ILC), one of the basic problems left to address is how to solve the contradiction between convergence conditions for the output tracking error and for the input signal (or error). This problem is considered…

Learning about the three-dimensional world from two-dimensional images is a fundamental problem in computer vision. An ideal neural network architecture for such tasks would leverage the fact that objects can be rotated and translated in…

After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for…

Current embodied intelligent systems still face a substantial gap between high-level reasoning and low-level physical execution in open-world environments. Although Vision-Language-Action (VLA) models provide strong perception and intuitive…