相关论文: AC-DiT: Adaptive Coordination Diffusion Transforme…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Recent work studying the generalization of diffusion models with UNet-based denoisers reveals inductive biases that can be expressed via geometry-adaptive harmonic bases. However, in practice, more recent denoising networks are often based…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

We present JointDiT, a diffusion transformer that models the joint distribution of RGB and depth. By leveraging the architectural benefit and outstanding image prior of the state-of-the-art diffusion transformer, JointDiT not only generates…

Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, bring substantial challenges due to infinite shape variations, non-rigid motions, and partial observability. We introduce ACID, an…

In this paper, we propose a unified whole-body control framework for velocity-controlled mobile collaborative robots which can distribute task motion into the arm and mobile base according to specific task requirements by adjusting…

This work examines adaptive distributed learning strategies designed to operate under communication constraints. We consider a network of agents that must solve an online optimization problem from continual observation of streaming data.…

Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…

Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…

Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…

In breast ultrasound images, precise lesion segmentation is essential for early diagnosis; however, low contrast, speckle noise, and unclear boundaries make this difficult. Even though deep learning models have demonstrated potential,…

Text-to-motion generation has attracted increasing attention in the research community recently, with potential applications in animation, virtual reality, robotics, and human-computer interaction. Diffusion and autoregressive models are…

In autonomous driving, deep models have shown remarkable performance across various visual perception tasks with the demand of high-quality and huge-diversity training datasets. Such datasets are expected to cover various driving scenarios…

Multi-class cell nuclei detection is a fundamental prerequisite in the diagnosis of histopathology. It is critical to efficiently locate and identify cells with diverse morphology and distributions in digital pathological images. Most…

Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation and manipulation, executing manipulation only after reaching a…

Human language is often multimodal, which comprehends a mixture of natural language, facial gestures, and acoustic behaviors. However, two major challenges in modeling such multimodal human language time-series data exist: 1) inherent data…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

Diffusion-based generative image compression has demonstrated remarkable potential for achieving realistic reconstruction at ultra-low bitrates. The key to unlocking this potential lies in making the entire compression process…

While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…

Multi-agent collaborative perception enhances each agent perceptual capabilities by sharing sensing information to cooperatively perform robot perception tasks. This approach has proven effective in addressing challenges such as sensor…