相关论文: NovaFlow: Zero-Shot Manipulation via Actionable Fl…

The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…

We address the problem of goal-directed cloth manipulation, a challenging task due to the deformability of cloth. Our insight is that optical flow, a technique normally used for motion estimation in video, can also provide an effective…

Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong performance on single-step tasks, they remain limited in their…

Partially Supervised Multi-Task Learning (PS-MTL) aims to leverage knowledge across tasks when annotations are incomplete. Existing approaches, however, have largely focused on the simpler setting of homogeneous, dense prediction tasks,…

Existing single-image 3D human avatar methods primarily rely on rigid joint transformations, limiting their ability to model realistic cloth dynamics. We present DynaAvatar, a zero-shot framework that reconstructs animatable 3D human…

Flow-based methods have achieved significant success in various generative modeling tasks, capturing nuanced details within complex data distributions. However, few existing works have exploited this unique capability to resolve…

We present a method, Neural Radiance Flow (NeRFlow),to learn a 4D spatial-temporal representation of a dynamic scene from a set of RGB images. Key to our approach is the use of a neural implicit representation that learns to capture the 3D…

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into…

Optical flow estimation is a crucial subfield of computer vision, serving as a foundation for video tasks. However, the real-world robustness is limited by animated synthetic datasets for training. This introduces domain gaps when applied…

Generating realistic robot videos from explicit action trajectories is a critical step toward building effective world models and robotics foundation models. We introduce two training-free, inference-time techniques that fully exploit…

Despite strong results on recognition and segmentation, current 3D visual pre-training methods often underperform on robotic manipulation. We attribute this gap to two factors: the lack of state-action-state dynamics modeling and the…

Dynamic scene understanding is one of the most conspicuous field of interest among computer vision community. In order to enhance dynamic scene understanding, pixel-wise segmentation with neural networks is widely accepted. The latest…

High-quality training data play a key role in image segmentation tasks. Usually, pixel-level annotations are expensive, laborious and time-consuming for the large volume of training data. To reduce labelling cost and improve segmentation…

Understanding dynamics from visual observations is a challenging problem that requires disentangling individual objects from the scene and learning their interactions. While recent object-centric models can successfully decompose a scene…

We address language-conditioned robotic manipulation using flow-based trajectory generation, which enables training on human and web videos of object manipulation and requires only minimal embodiment-specific data. This task is challenging,…

The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…

Learning diverse manipulation skills for real-world robots is severely bottlenecked by the reliance on costly and hard-to-scale teleoperated demonstrations. While human videos offer a scalable alternative, effectively transferring…

Recent advances in generative models have shown promise in generating behavior plans for long-horizon, sparse reward tasks. While these approaches have achieved promising results, they often lack a principled framework for hierarchical…

Imagining multiple consecutive frames given one single snapshot is challenging, since it is difficult to simultaneously predict diverse motions from a single image and faithfully generate novel frames without visual distortions. In this…

Large models have shown generalization across datasets for many low-level vision tasks, like depth estimation, but no such general models exist for scene flow. Even though scene flow has wide potential use, it is not used in practice…