相关论文: Training-Free Robot Pose Estimation using Off-the-…

As robotics become increasingly integrated into construction workflows, their ability to interpret and respond to human behavior will be essential for enabling safe and effective collaboration. Vision-Language Models (VLMs) have emerged as…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…

In this work, we tackle the problem of online camera-to-robot pose estimation from single-view successive frames of an image sequence, a crucial task for robots to interact with the world.

The widespread use of cameras in our society has created an overwhelming amount of video data, far exceeding the capacity for human monitoring. This presents a critical challenge for public safety and security, as the timely detection of…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

Vision-Language Models (VLMs), such as Flamingo and GPT-4V, have shown immense potential by integrating large language models with vision systems. Nevertheless, these models face challenges in the fundamental computer vision task of object…

The prevalence of Vision-Language Models (VLMs) raises important questions about privacy in an era where visual information is increasingly available. While foundation VLMs demonstrate broad knowledge and learned capabilities, we…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

Recent progress in vision language foundation models has shown their ability to understand multimodal data and resolve complicated vision language tasks, including robotics manipulation. We seek a straightforward way of making use of…

We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g.\ for applications such as quality control in industrial manufacturing. The proposed method is easily…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

We present an open-source robotic framework that integrates computer vision and machine learning based inverse kinematics to enable low-cost laboratory automation tasks such as colony picking and liquid handling. The system uses a custom…

Video generative models (VGMs) pretrained on large-scale internet data can produce temporally coherent rollout videos that capture rich object dynamics, offering a compelling foundation for zero-shot robotic manipulation. However, VGMs…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

Vision-Language Models (VLMs) acquire real-world knowledge and general reasoning ability through Internet-scale image-text corpora. They can augment robotic systems with scene understanding and task planning, and assist visuomotor policies…

Using learned reward functions (LRFs) as a means to solve sparse-reward reinforcement learning (RL) tasks has yielded some steady progress in task-complexity through the years. In this work, we question whether today's LRFs are best-suited…

Traditional approaches to off-road autonomy rely on separate models for terrain classification, height estimation, and quantifying slip or slope conditions. Utilizing several models requires training each component separately, having task…

When humans see a scene, they can roughly imagine the forces applied to objects based on their experience and use them to handle the objects properly. This paper considers transferring this "force-visualization" ability to robots. We…

Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by vision foundation models (VFM), which are pre-trained models that…