相关论文: VBM-NET: Visual Base Pose Learning for Mobile Mani…

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

Mobile manipulation is the fundamental challenge for robotics to assist humans with diverse tasks and environments in everyday life. However, conventional mobile manipulation approaches often struggle to generalize across different tasks…

Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation and manipulation, executing manipulation only after reaching a…

While end-to-end approaches have achieved state-of-the-art performance in many perception tasks, they are not yet able to compete with 3D geometry-based methods in pose estimation. Moreover, absolute pose regression has been shown to be…

This work provides an architecture that incorporates depth and tactile information to create rich and accurate 3D models useful for robotic manipulation tasks. This is accomplished through the use of a 3D convolutional neural network (CNN).…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

We present a framework that integrates EEG-based visual and motor imagery (VI/MI) with robotic control to enable real-time, intention-driven grasping and placement. Motivated by the promise of BCI-driven robotics to enhance human-robot…

Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…

Estimating human poses from videos is critical in human-computer interaction. Joints cooperate rather than move independently during human movement. There are both spatial and temporal correlations between joints. Despite the positive…

Non-local operations are usually used to capture long-range dependencies via aggregating global context to each position recently. However, most of the methods cannot preserve object shapes since they only focus on feature similarity but…

This paper investigates the feasibility of using Graph Neural Networks (GNNs) for classical motion planning problems. We propose guiding both continuous and discrete planning algorithms using GNNs' ability to robustly encode the topology of…

Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…

We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating the robot toward objects, our approach considers the…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant…

To address the ever-growing connectivity demands of wireless communications, the adoption of ingenious solutions, such as Unmanned Aerial Vehicles (UAVs) as mobile Base Stations (BSs), is imperative. In general, the location of a UAV Base…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…