相关论文: Manipulation as in Simulation: Enabling Accurate G…
Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…
Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…
Human-like generalization in open-world remains a fundamental challenge for robotic manipulation. Existing learning-based methods, including reinforcement learning, imitation learning, and vision-language-action-models (VLAs), often…
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This…
Since the resurgence of CNNs the robotic vision community has developed a range of algorithms that perform classification, semantic segmentation and structure prediction (depths, normals, surface curvature) using neural networks. While some…
Recent advances in robot imitation learning have yielded powerful visuomotor policies capable of manipulating a wide variety of objects directly from monocular visual inputs. However, monocular observations inherently lack reliable depth…
Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…
Bimanual manipulation requires policies that can reason about 3D geometry, anticipate how it evolves under action, and generate smooth, coordinated motions. However, existing methods typically rely on 2D features with limited spatial…
Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…
Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…
Recent advances in video diffusion transformers have enabled interactive gaming world models that allow users to explore generated environments over extended horizons. However, existing approaches struggle with precise action control and…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
When performing 3D manipulation tasks, robots have to execute action planning based on perceptions from multiple fixed cameras. The multi-camera setup introduces substantial redundancy and irrelevant information, which increases…