相关论文: U-LAG: Uncertainty-Aware, Lag-Adaptive Goal Retarg…

Unified video and action prediction models hold great potential for robotic manipulation, as future observations offer contextual cues for planning, while actions reveal how interactions shape the environment. However, most existing…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…

Parent-Guided Adaptive Reliability (PGAR) is a lightweight behavioural meta-learning framework that adds a supervisory "parent" layer on top of a standard learner to improve stability, calibration, and recovery under disturbances. PGAR…

Object Rearrangement is to move objects from an initial state to a goal state. Here, we focus on a more practical setting in object rearrangement, i.e., rearranging objects from shuffled layouts to a normative target distribution without…

Retrieval-Augmented Generation (RAG) systems are typically evaluated under static assumptions, despite being frequently corrected through user or expert feedback in deployment. Existing evaluation protocols focus on overall accuracy and…

Retrieval-Augmented Generation (RAG) has emerged as a widely adopted approach for enhancing LLMs in scenarios that demand extensive factual knowledge. However, current RAG evaluations concentrate primarily on correctness, which may not…

Motion retargeting is a fundamental problem in computer graphics and computer vision. Existing approaches usually have many strict requirements, such as the source-target skeletons needing to have the same number of joints or share the same…

Existing end-to-end approaches of robotic manipulation often lack generalization to unseen objects or tasks due to limited data and poor interpretability. While recent Multimodal Large Language Models (MLLMs) demonstrate strong commonsense…

Agile unmanned aerial vehicle (UAV) navigation in cluttered environments demands a planning architecture that is both computationally efficient and structurally expressive enough to reason over multiple feasible motions. This paper presents…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…

Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-inspired physics-conditioned tactile method (Phy-Tac) for…

Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

Adaptive control of Euler-Lagrange systems is challenging when friction is governed by a finite-horizon internal state that is not directly observable from joint measurements. In this setting, the measured closed-loop state is no longer…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…

Dexterous grasping aims to produce diverse grasping postures with a high grasping success rate. Regression-based methods that directly predict grasping parameters given the object may achieve a high success rate but often lack diversity.…

We present an algorithm, Fourier Activity Recognition (FAR), for UAV video activity recognition. Our formulation uses a novel Fourier object disentanglement method to innately separate out the human agent (which is typically small) from the…

Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts occur mid-episode,…

Policy steering is an emerging way to adapt robot behaviors at deployment-time: a learned verifier analyzes low-level action samples proposed by a pre-trained policy (e.g., diffusion policy) and selects only those aligned with the task.…