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

Recent advancements in integrating tactile sensing into vision-language-action (VLA) models have demonstrated transformative potential for robotic perception. However, existing tactile representations predominantly rely on qualitative…

Real-world robotic manipulation demands visuomotor policies capable of robust spatial scene understanding and strong generalization across diverse camera viewpoints. While recent advances in 3D-aware visual representations have shown…

We study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been proven effective as a succinct representation for capturing…

Learning generalizable policies for robotic manipulation increasingly relies on large-scale models that map language instructions to actions (L2A). However, this one-way paradigm often produces policies that execute tasks without deeper…

We present a coarse-to-fine discretisation method that enables the use of discrete reinforcement learning approaches in place of unstable and data-inefficient actor-critic methods in continuous robotics domains. This approach builds on the…

Proprioceptive information is critical for precise servo control by providing real-time robotic states. Its collaboration with vision is highly expected to enhance performances of the manipulation policy in complex tasks. However, recent…

Embodied AI represents a paradigm in AI research where artificial agents are situated within and interact with physical or virtual environments. Despite the recent progress in Embodied AI, it is still very challenging to learn the…

Pre-trained vision-language models, such as CLIP, show impressive zero-shot recognition ability and can be easily transferred to specific downstream tasks via prompt tuning, even with limited training data. However, existing prompt tuning…

Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…

Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…

Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…

Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…

Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…

Reinforcement learning combined with sim-to-real transfer offers a general framework for developing locomotion controllers for legged robots. To facilitate successful deployment in the real world, smoothing techniques, such as low-pass…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By…

Vision-language models (VLMs) have demonstrated exceptional generalization capabilities for downstream tasks. Due to its efficiency, prompt learning has gradually become a more effective and efficient method for transferring VLMs to…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…