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

Learning from videos offers a promising path toward generalist robots by providing rich visual and temporal priors beyond what real robot datasets contain. While existing video generative models produce impressive visual predictions, they…

We address the challenge of acquiring real-world manipulation skills with a scalable framework. We hold the belief that identifying an appropriate prediction target capable of leveraging large-scale datasets is crucial for achieving…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

We present a novel approach to weakly supervised object detection. Instead of annotated images, our method only requires two short videos to learn to detect a new object: 1) a video of a moving object and 2) one or more "negative" videos of…

In recent years there has been considerable interest in human action recognition. Several approaches have been developed in order to enhance the automatic video analysis. Although some developments have been achieved by the computer vision…

Estimating human pose from video is a task that receives considerable attention due to its applicability in numerous 3D fields. The complexity of prior knowledge of human body movements poses a challenge to neural network models in the task…

We present DexMan, an automated framework that converts human visual demonstrations into bimanual dexterous manipulation skills for humanoid robots in simulation. Operating directly on third-person videos of humans manipulating rigid…

The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…

Derived from rapid advances in computer vision and machine learning, video analysis tasks have been moving from inferring the present state to predicting the future state. Vision-based action recognition and prediction from videos are such…

Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation…

The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…

Learning to use tools or objects in common scenes, particularly handling them in various ways as instructed, is a key challenge for developing interactive robots. Training models to generate such manipulation trajectories requires a large…

Understanding 3D motion from videos presents inherent challenges due to the diverse types of movement, ranging from rigid and deformable objects to articulated structures. To overcome this, we propose Liv3Stroke, a novel approach for…

3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…

The growing interest in embodied intelligence has brought ego-centric perspectives to contemporary research. One significant challenge within this realm is the accurate localization and tracking of objects in ego-centric videos, primarily…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Bridging the gap between motion models and reality is crucial by using limited data to deploy robots in the real world. Deep learning is expected to be generalized to diverse situations while reducing feature design costs through end-to-end…

The existing Motion Imitation models typically require expert data obtained through MoCap devices, but the vast amount of training data needed is difficult to acquire, necessitating substantial investments of financial resources, manpower,…

Current state-of-the-art video models process a video clip as a long sequence of spatio-temporal tokens. However, they do not explicitly model objects, their interactions across the video, and instead process all the tokens in the video. In…