相关论文: Contact Map Transfer with Conditional Diffusion Mo…
Despite remarkable achievements in video synthesis, achieving granular control over complex dynamics, such as nuanced movement among multiple interacting objects, still presents a significant hurdle for dynamic world modeling, compounded by…
Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
Empathy is a crucial factor in open-domain conversations, which naturally shows one's caring and understanding to others. Though several methods have been proposed to generate empathetic responses, existing works often lead to monotonous…
Estimating correspondences between pairs of deformable shapes remains a challenging problem. Despite substantial progress, existing methods lack broad generalization capabilities and require category-specific training data. To address these…
Diffusion models have emerged as powerful generative models for graph generation, yet their use for conditional graph generation remains a fundamental challenge. In particular, guiding diffusion models on graphs under arbitrary reward…
Layout generation aims to synthesize realistic graphic scenes consisting of elements with different attributes including category, size, position, and between-element relation. It is a crucial task for reducing the burden on heavy-duty…
Deep generative models have garnered significant attention in low-level vision tasks due to their generative capabilities. Among them, diffusion model-based solutions, characterized by a forward diffusion process and a reverse denoising…
Adaptable models could greatly benefit robotic agents operating in the real world, allowing them to deal with novel and varying conditions. While approaches such as Bayesian inference are well-studied frameworks for adapting models to…
This paper introduces the first text-guided work for generating the sequence of hand-object interaction in 3D. The main challenge arises from the lack of labeled data where existing ground-truth datasets are nowhere near generalizable in…
In this paper we describe a novel framework for diffusion-based generative modeling on constrained spaces. In particular, we introduce manual bridges, a framework that expands the kinds of constraints that can be practically used to form…
The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
Grasp detection in a cluttered environment is still a great challenge for robots. Currently, the Transformer mechanism has been successfully applied to visual tasks, and its excellent ability of global context information extraction…
Full-body gestures play a pivotal role in natural interactions and are crucial for achieving effective communication. Nevertheless, most existing studies primarily focus on the gesture generation of speakers, overlooking the vital role of…
Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisation approaches often struggle to solve such tasks due to the…
Diffusion models, a powerful and universal generative AI technology, have achieved tremendous success in computer vision, audio, reinforcement learning, and computational biology. In these applications, diffusion models provide flexible…
The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…
Generalising robotic grasping to previously unseen objects is a key task in general robotic manipulation. The current method for training many antipodal generative grasping models rely on a binary ground truth grasp map generated from the…
Multi-finger grasping relies on high quality training data, which is hard to obtain: human data is hard to transfer and synthetic data relies on simplifying assumptions that reduce grasp quality. By making grasp simulation differentiable,…
Dynamic and dexterous manipulation of objects presents a complex challenge, requiring the synchronization of hand motions with the trajectories of objects to achieve seamless and physically plausible interactions. In this work, we introduce…