相关论文: UMIGen: A Unified Framework for Egocentric Point C…

Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…

We present UniModel, a unified generative model that jointly supports visual understanding and visual generation within a single pixel-to-pixel diffusion framework. Our goal is to achieve unification along three axes: the model, the tasks,…

In this paper, we adopt the Universal Manifold Embedding (UME) framework for the estimation of rigid transformations and extend it, so that it can accommodate scenarios involving partial overlap and differently sampled point clouds. UME is…

In the era of deep learning, data is the critical determining factor in the performance of neural network models. Generating large datasets suffers from various difficulties such as scalability, cost efficiency and photorealism. To avoid…

We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to deployable robot policies. UMI employs hand-held grippers…

Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…

Egocentric human motion generation and forecasting with scene-context is crucial for enhancing AR/VR experiences, improving human-robot interaction, advancing assistive technologies, and enabling adaptive healthcare solutions by accurately…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Unified understanding and generation is a highly appealing research direction in multimodal learning. There exist two approaches: one trains a transformer via an auto-regressive paradigm, and the other adopts a two-stage scheme connecting…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

In recent years, significant progress has been made in both image generation and generated image detection. Despite their rapid, yet largely independent, development, these two fields have evolved distinct architectural paradigms: the…

Recent advances in Vision-Language-Action (VLA) and world-model methods have improved generalization in tasks such as robotic manipulation and object interaction. However, Successful execution of such tasks depends on large, costly…

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…

The scale and diversity of demonstration data required for imitation learning is a significant challenge. We present EgoMimic, a full-stack framework which scales manipulation via human embodiment data, specifically egocentric human videos…

We present Uni$^2$Det, a brand new framework for unified and universal multi-dataset training on 3D detection, enabling robust performance across diverse domains and generalization to unseen domains. Due to substantial disparities in data…

Mobile imitation learning on portable demonstration interfaces faces two coupled bottlenecks: locomotion-contaminated action labels and inference-induced execution latency on a continuously moving base. Recent wrist-mounted interfaces lower…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

The acquisition of annotated datasets with paired images and segmentation masks is a critical challenge in domains such as medical imaging, remote sensing, and computer vision. Manual annotation demands significant resources, faces ethical…

Recently, robotics has advanced significantly through the integration of larger models and large-scale datasets. However, challenges remain in applying these models to 3D spatial interactions and managing data collection costs. To address…

Human generation has achieved significant progress. Nonetheless, existing methods still struggle to synthesize specific regions such as faces and hands. We argue that the main reason is rooted in the training data. A holistic human dataset…