相关论文: CapsDT: Diffusion-Transformer for Capsule Robot Ma…

The fundamental premise of Vision-Language-Action (VLA) models is to harness the extensive general capabilities of pre-trained Vision-Language Models (VLMs) for generalized embodied intelligence. However, standard robotic fine-tuning…

Transformers have been the dominant architecture for Speech Translation in recent years, achieving significant improvements in translation quality. Since speech signals are longer than their textual counterparts, and due to the quadratic…

Learning transferable latent actions from large-scale object manipulation videos can significantly enhance generalization in downstream robotics tasks, as such representations are agnostic to different robot embodiments. Existing approaches…

We introduce ScanBot, a novel dataset designed for instruction-conditioned, high-precision surface scanning in robotic systems. In contrast to existing robot learning datasets that focus on coarse tasks such as grasping, navigation, or…

Vision-Language-Action (VLA) models have shown great potential in general robotic decision-making tasks via imitation learning. However, the variable quality of training data often constrains the performance of these models. On the other…

In this paper, we present an end-to-end trainable unified multiscale encoder-decoder transformer that is focused on dense prediction tasks in video. The presented Multiscale Encoder-Decoder Video Transformer (MED-VT) uses multiscale…

The increasing demand for versatile robotic systems to operate in diverse and dynamic environments has emphasized the importance of a generalist policy, which leverages a large cross-embodiment data corpus to facilitate broad adaptability…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Many robotic manipulation tasks require sensing and responding to force signals such as torque to assess whether the task has been successfully completed and to enable closed-loop control. However, current Vision-Language-Action (VLA)…

Vision-Language-Action (VLA) models leverage pretrained vision-language models (VLMs) to couple perception with robotic control, offering a promising path toward general-purpose embodied intelligence. However, current SOTA VLAs are…

Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single operating frequency. This design ignores the mismatched sampling…

Robotics enables a variety of unconventional actuation strategies to be used for endoscopes, resulting in reduced trauma to the GI tract. For transmission of force to distally mounted endoscopic instruments, robotically actuated tendon…

Recent progress in Vision-Language-Action (VLA) models has enabled embodied agents to interpret multimodal instructions and perform complex tasks. However, existing VLAs are mostly confined to short-horizon, table-top manipulation, lacking…

Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and…

Reinforcement learning (RL) has demonstrated great potential in robotic operations. However, its data-intensive nature and reliance on the Markov Decision Process (MDP) assumption limit its practical deployment in real-world scenarios…

We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and task specifications, DGDM generates sensor-less manipulator…

Embodied Visual Tracking (EVT) is a fundamental ability that underpins practical applications, such as companion robots, guidance robots and service assistants, where continuously following moving targets is essential. Recent advances have…

Recent large vision-language-action models pretrained on diverse robot datasets have demonstrated the potential for generalizing to new environments with a few in-domain data. However, those approaches usually predict individual discretized…

Despite the availability of computer-aided simulators and recorded videos of surgical procedures, junior residents still heavily rely on experts to answer their queries. However, expert surgeons are often overloaded with clinical and…