相关论文: Object-centric 3D Motion Field for Robot Learning …

The optical flow of humans is well known to be useful for the analysis of human action. Recent optical flow methods focus on training deep networks to approach the problem. However, the training data used by them does not cover the domain…

This paper presents a novel Learning from Demonstration (LfD) method that uses neural fields to learn new skills efficiently and accurately. It achieves this by utilizing a shared embedding to learn both scene and motion representations in…

To date, machine learning for human action recognition in video has been widely implemented in sports activities. Although some studies have been successful in the past, precision is still the most significant concern. In this study, we…

We seek to extract a temporally consistent 6D pose trajectory of a manipulated object from an Internet instructional video. This is a challenging set-up for current 6D pose estimation methods due to uncontrolled capturing conditions, subtle…

Predicting future scene representations is a crucial task for enabling robots to understand and interact with the environment. However, most existing methods rely on videos and simulations with precise action annotations, limiting their…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Recent advances in video diffusion models have enabled the generation of high-quality videos. However, these videos still suffer from unrealistic deformations, semantic violations, and physical inconsistencies that are largely rooted in the…

If robots could reliably manipulate the shape of 3D deformable objects, they could find applications in fields ranging from home care to warehouse fulfillment to surgical assistance. Analytic models of elastic, 3D deformable objects require…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

Motion transfer of talking-head videos involves generating a new video with the appearance of a subject video and the motion pattern of a driving video. Current methodologies primarily depend on a limited number of subject images and 2D…

Action anticipation, which aims to recognize the action with a partial observation, becomes increasingly popular due to a wide range of applications. In this paper, we investigate the problem of 3D action anticipation from streaming videos…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

In this paper, we are interested in self-supervised learning the motion cues in videos using dynamic motion filters for a better motion representation to finally boost human action recognition in particular. Thus far, the vision community…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Video generation models are rapidly improving in their ability to synthesize human actions in novel contexts, holding the potential to serve as high-level planners for contextual robot control. To realize this potential, a key research…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

One-shot transfer of dexterous grasps to novel scenes with object and context variations has been a challenging problem. While distilled feature fields from large vision models have enabled semantic correspondences across 3D scenes, their…

We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…

Human movement is goal-directed and influenced by the spatial layout of the objects in the scene. To plan future human motion, it is crucial to perceive the environment -- imagine how hard it is to navigate a new room with lights off.…