相关论文: Decomposed Object Manipulation via Dual-Actor Poli…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

Bimanual dexterous manipulation remains significant challenges in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

Background: Deep Deterministic Policy Gradient-based reinforcement learning algorithms utilize Actor-Critic architectures, where both networks are typically trained using identical batches of replayed transitions. However, the learning…

Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Meanwhile, their inherent sample efficiency warrants utility for…

Weakly supervised object detection aims at reducing the amount of supervision required to train detection models. Such models are traditionally learned from images/videos labelled only with the object class and not the object bounding box.…

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…

Biological and artificial agents need to deal with constant changes in the real world. We study this problem in four classical continuous control environments, augmented with morphological perturbations. Learning to locomote when the length…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Deep neural networks have recently achieved competitive accuracy for human activity recognition. However, there is room for improvement, especially in modeling long-term temporal importance and determining the activity relevance of…

We present 3D FlowMatch Actor (3DFA), a 3D policy architecture for robot manipulation that combines flow matching for trajectory prediction with 3D pretrained visual scene representations for learning from demonstration. 3DFA leverages 3D…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be…

This paper introduces Dynamic Embeddings with Task-Oriented prompting (DETOT), a novel approach aimed at improving the adaptability and efficiency of machine learning models by implementing a flexible embedding layer. Unlike traditional…

Multi-object tracking (MOT) is an integral part of any autonomous driving pipelines because itproduces trajectories which has been taken by other moving objects in the scene and helps predicttheir future motion. Thanks to the recent…

Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable…

Effectively handling the interplay between spatial perception and action generation remains a critical bottleneck in robotic manipulation. Existing methods typically treat spatial perception and action execution as decoupled or strictly…

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a…

It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…