相关论文: TD-TOG Dataset: Benchmarking Zero-Shot and One-Sho…

Robots assisting us in factories or homes must learn to make use of objects as tools to perform tasks, e.g., a tray for carrying objects. We consider the problem of learning commonsense knowledge of when a tool may be useful and how its use…

The generalization of the end-to-end deep reinforcement learning (DRL) for object-goal visual navigation is a long-standing challenge since object classes and placements vary in new test environments. Learning domain-independent visual…

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…

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…

Estimating robot pose from a monocular RGB image is a challenge in robotics and computer vision. Existing methods typically build networks on top of 2D visual backbones and depend heavily on labeled data for training, which is often scarce…

A Knowledge Graph (KG) is a heterogeneous graph encompassing a diverse range of node and edge types. Heterogeneous Graph Neural Networks (HGNNs) are popular for training machine learning tasks like node classification and link prediction on…

Object search is a fundamental skill for household robots, yet the core problem lies in the robot's ability to locate the target object accurately. The dynamic nature of household environments, characterized by the arbitrary placement of…

Most existing robotic datasets capture static scene data and thus are limited in evaluating robots' dynamic performance. To address this, we present a mobile robot oriented large-scale indoor dataset, denoted as THUD (Tsinghua University…

A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO),…

Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…

Object recognition has made great advances in the last decade, but predominately still relies on many high-quality training examples per object category. In contrast, learning new objects from only a few examples could enable many impactful…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Object pose estimation, crucial in computer vision and robotics applications, faces challenges with the diversity of unseen categories. We propose a zero-shot method to achieve category-level 6-DOF object pose estimation, which exploits…

Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We…

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…

Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…

The basis of many object manipulation algorithms is RGB-D input. Yet, commodity RGB-D sensors can only provide distorted depth maps for a wide range of transparent objects due light refraction and absorption. To tackle the perception…

A general-purpose robot should be able to master a wide range of tasks and quickly learn a novel one by leveraging past experiences. One-shot imitation learning (OSIL) approaches this goal by training an agent with (pairs of) expert…

Is it possible to detect arbitrary objects from a single example? A central problem of all existing attempts at one-shot object detection is the generalization gap: Object categories used during training are detected much more reliably than…

Task-oriented dialogue (TOD) systems enable users to achieve their goals through natural language interactions. Traditionally, these systems have relied on turn-level manually annotated metadata, such as dialogue states and policy…