相关论文: Generalizable Coarse-to-Fine Robot Manipulation vi…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA) frameworks typically use 2D representations to connect…

Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…

Humanoid robots must master numerous tasks with sparse rewards, posing a challenge for reinforcement learning (RL). We propose a method combining RL and automated planning to address this. Our approach uses short goal-conditioned policies…

Traditional language-conditioned manipulation agent sequential adaptation to new manipulation skills leads to catastrophic forgetting of old skills, limiting dynamic scene practical deployment. In this paper, we propose SkillsCrafter, a…

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…

Using deep learning, 3D autonomous driving semantic segmentation has become a well-studied subject, with methods that can reach very high performance. Nonetheless, because of the limited size of the training datasets, these models cannot…

Advancements in the generation quality of various Generative Models (GMs) has made it necessary to not only perform binary manipulation detection but also localize the modified pixels in an image. However, prior works termed as passive for…

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

Human action recognition plays a critical role in healthcare and medicine, supporting applications such as patient behavior monitoring, fall detection, surgical robot supervision, and procedural skill assessment. While traditional models…

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…

Continual fine-tuning of Large Language Models (LLMs) is hampered by the trade-off between efficiency and expressiveness. Low-Rank Adaptation (LoRA) offers efficiency but constrains the model's ability to learn new tasks and transfer…

A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…

Efficient fine-tuning of vision-language models (VLMs) like CLIP for specific downstream tasks is gaining significant attention. Previous works primarily focus on prompt learning to adapt the CLIP into a variety of downstream tasks,…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…

In real-world robotic manipulation, states typically admit a neighborhood of near-equivalent actions. That is, for each state, there exist a feasible action neighborhood (FAN) rather than a single correct action, within which motions yield…

Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with…

Many recent machine learning approaches to floorplanning represent placement decisions using discrete canvas coordinates, which creates scalability bottlenecks as the action space grows. In this work, we study the effect of learning a…