相关论文: PinchBot: Long-Horizon Deformable Manipulation wit…

Current robots struggle with long-horizon manipulation tasks requiring sequences of prehensile and non-prehensile skills, contact-rich interactions, and long-term reasoning. We present $\texttt{SPIN}$ ($\textbf{S}$kill $\textbf{P}$lanning…

Recent video generation models demonstrate remarkable ability to capture complex physical interactions and scene evolution over time. To leverage their spatiotemporal priors, robotics works have adapted video models for policy learning but…

Object rearrangement, a fundamental challenge in robotics, demands versatile strategies to handle diverse objects, configurations, and functional needs. To achieve this, the AI robot needs to learn functional rearrangement priors in order…

In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across…

Object-level manipulation, relocating or reorienting objects in images or videos while preserving scene realism, is central to film post-production, AR, and creative editing. Yet existing methods struggle to jointly achieve three core…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle…

It has been arduous to assess the progress of a policy learning algorithm in the domain of hierarchical task with high dimensional action space due to the lack of a commonly accepted benchmark. In this work, we propose a new light-weight…

Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…

We propose a novel image editing technique that enables 3D manipulations on single images, such as object rotation and translation. Existing 3D-aware image editing approaches typically rely on synthetic multi-view datasets for training…

We present DreamCraft3D, a hierarchical 3D content generation method that produces high-fidelity and coherent 3D objects. We tackle the problem by leveraging a 2D reference image to guide the stages of geometry sculpting and texture…

Guided policy search algorithms can be used to optimize complex nonlinear policies, such as deep neural networks, without directly computing policy gradients in the high-dimensional parameter space. Instead, these methods use supervised…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust,…

Reusing large datasets is crucial to scale vision-based robotic manipulators to everyday scenarios due to the high cost of collecting robotic datasets. However, robotic platforms possess varying control schemes, camera viewpoints, kinematic…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

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…

Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce Hyper-GoalNet, a framework that generates task-specific policy…

This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is…

Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…