相关论文: Sim-to-Real Dynamic Object Manipulation on Conveyo…

Optimizing behaviors for dexterous manipulation has been a longstanding challenge in robotics, with a variety of methods from model-based control to model-free reinforcement learning having been previously explored in literature. Perhaps…

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…

General matrix multiplication (GEMM) on spatial accelerators is highly sensitive to mapping choices in both execution efficiency and energy consumption. However, the mapping space exhibits combinatorial explosion, which makes it extremely…

Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location, training imitation learning or reinforcement learning…

We aim to solve the problem of manipulating deformable objects, particularly elastic bands, in real-world scenarios. However, deformable object manipulation (DOM) requires a policy that works on a large state space due to the unlimited…

Generalizable object fetching in cluttered scenes remains a fundamental and application-critical challenge in embodied AI. Closely packed objects cause inevitable occlusions, making safe action generation particularly difficult. Under such…

One major obstacle towards AI is the poor ability of models to solve new problems quicker, and without forgetting previously acquired knowledge. To better understand this issue, we study the problem of continual learning, where the model…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

Learning robotic manipulation skills from vision is a promising approach for developing robotics applications that can generalize broadly to real-world scenarios. As such, many approaches to enable this vision have been explored with…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

We propose a method for sim-to-real robot learning which exploits simulator state information in a way that scales to many objects. We first train a pair of encoder networks to capture multi-object state information in a latent space. One…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

Recently, a so-called E-MS algorithm was developed for model selection in the presence of missing data. Specifically, it performs the Expectation step (E step) and Model Selection step (MS step) alternately to find the minimum point of the…

Learning a general motion tracking policy from human motions shows great potential for versatile humanoid whole-body control. Conventional approaches are not only inefficient in data utilization and training processes but also exhibit…

Quantifying the impacts of anthropogenic global warming requires accurate Earth system model (ESM) simulations. Statistical bias correction and downscaling can be applied to reduce errors and increase the resolution of ESMs. However,…

Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost…

Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…

Existing RGB-based imitation learning approaches typically employ traditional vision encoders such as ResNet or ViT, which lack explicit 3D reasoning capabilities. Recent geometry-grounded vision models, such as VGGT~\cite{wang2025vggt},…

Improving generalization is one key challenge in embodied AI, where obtaining large-scale datasets across diverse scenarios is costly. Traditional weak augmentations, such as cropping and flipping, are insufficient for improving a model's…