相关论文: EmbodiSwap for Zero-Shot Robot Imitation Learning

Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing methods are either constrained to narrow…

The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm…

We present a new end-to-end learning framework to obtain detailed and spatially coherent reconstructions of multiple people from a single image. Existing multi-person methods suffer from two main drawbacks: they are often model-based and…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…

In the biomedical environment, experiments assessing dynamic processes are primarily performed by a human acquisition supervisor. Contemporary implementations of such experiments frequently aim to acquire a maximum number of relevant events…

Zero-shot learning methods typically assume that the new, unseen classes encountered during deployment come from the same distribution as the the classes in the training set. However, real-world scenarios often involve class distribution…

Vision-based human-to-robot handover is an important and challenging task in human-robot interaction. Recent work has attempted to train robot policies by interacting with dynamic virtual humans in simulated environments, where the policies…

Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…

In this paper, we present a novel method for self-supervised fine-tuning of pose estimation. Leveraging zero-shot pose estimation, our approach enables the robot to automatically obtain training data without manual labeling. After pose…

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy…

The rapid advancement of Embodied AI has led to an increasing demand for large-scale, high-quality real-world data. However, collecting such embodied data remains costly and inefficient. As a result, simulation environments have become a…

In recent years, as robotics has advanced, human-robot collaboration has gained increasing importance. However, current robots struggle to fully and accurately interpret human intentions from voice commands alone. Traditional gripper and…

This work studies the representational mapping across multimodal data such that given a piece of the raw data in one modality the corresponding semantic description in terms of the raw data in another modality is immediately obtained. Such…

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Zero-shot learning (ZSL) can be formulated as a cross-domain matching problem: after being projected into a joint embedding space, a visual sample will match against all candidate class-level semantic descriptions and be assigned to the…

Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiments. Existing approaches face a dilemma: imitation policy…

Joint Embedding Predictive Architectures (JEPA) offer a scalable paradigm for self-supervised learning by predicting latent representations rather than reconstructing high-entropy observations. However, existing formulations rely on…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…