相关论文: Knowledge Diversion for Efficient Morphology Contr…

This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…

We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex,…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large number of trainable parameters. This model size affords powerful…

Knowledge distillation is an effective method for training small and efficient deep learning models. However, the efficacy of a single method can degenerate when transferring to other tasks, modalities, or even other architectures. To…

Knowledge distillation (KD) has proven highly effective for compressing large models and enhancing the performance of smaller ones. However, its effectiveness diminishes in cross-modal scenarios, such as vision-to-language distillation,…

Reconstructing neuron morphology from 3D light microscope imaging data is critical to aid neuroscientists in analyzing brain networks and neuroanatomy. With the boost from deep learning techniques, a variety of learning-based segmentation…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

Multi-task learning (MTL) is to learn one single model that performs multiple tasks for achieving good performance on all tasks and lower cost on computation. Learning such a model requires to jointly optimize losses of a set of tasks with…

With the growing interest in foundation models for brain signals, graph-based pretraining has emerged as a promising paradigm for learning transferable representations from connectome data. However, existing contrastive and masked…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

The landscape of video recognition has evolved significantly, shifting from traditional Convolutional Neural Networks (CNNs) to Transformer-based architectures for improved accuracy. While 3D CNNs have been effective at capturing…

Transferring knowledge across domains is one of the most fundamental problems in machine learning, but doing so effectively in the context of reinforcement learning remains largely an open problem. Current methods make strong assumptions on…

Recent advances in multi-agent reinforcement learning have been largely limited in training one model from scratch for every new task. The limitation is due to the restricted model architecture related to fixed input and output dimensions.…

Learning-based methods excel at robot motion generation but remain limited in contact-rich physical interaction. Impedance control provides stable and safe contact behavior but requires task-specific tuning of stiffness and damping…

This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

Learning representations for structured data with certain geometries (e.g., observed or unobserved) is a fundamental challenge, wherein message passing neural networks (MPNNs) have become a de facto class of model solutions. In this paper,…

While modern diffusion models excel at generating high-quality and diverse images, they still struggle with high-fidelity compositional and multimodal control, particularly when users simultaneously specify text prompts, subject references,…

Over the last few decades, modern industrial processes have investigated several cost-effective methodologies to improve the productivity and yield of semiconductor manufacturing. While playing an essential role in facilitating real-time…