相关论文: VERM: Leveraging Foundation Models to Create a Vir…

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection,…

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

While Large Language Models (LLMs) excel at reasoning on text and Vision-Language Models (VLMs) are highly effective for visual perception, applying those models for visual instruction-based planning remains a widely open problem. In this…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

Vision-Language Models (VLMs) offer the ability to generate high-level, interpretable descriptions of complex activities from images and videos, making them valuable for situational awareness (SA) applications. In such settings, the focus…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

3D anomaly detection is critical in industrial quality inspection. While existing methods achieve notable progress, their performance degrades in high-precision 3D anomaly detection due to insufficient global information. To address this,…

Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

Vision-and-Language Pre-training (VLP) improves model performance for downstream tasks that require image and text inputs. Current VLP approaches differ on (i) model architecture (especially image embedders), (ii) loss functions, and (iii)…

Virtual reality and augmented reality (XR) bring increasing demand for 3D content. However, creating high-quality 3D content requires tedious work that a human expert must do. In this work, we study the challenging task of lifting a single…

The performance of image-based Reinforcement Learning (RL) agents can vary depending on the position of the camera used to capture the images. Training on multiple cameras simultaneously, including a first-person egocentric camera, can…

Vision-Language Model (VLM) have gained widespread adoption in Open-Vocabulary (OV) object detection and segmentation tasks. Despite they have shown promise on OV-related tasks, their effectiveness in conventional vision tasks has thus far…

Vision foundation models (VFMs) have demonstrated remarkable capabilities in learning universal visual representations. However, adapting these models to downstream tasks conventionally requires parameter updates, with even…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…

The integration of vision-language models into robotic systems constitutes a significant advancement in enabling machines to interact with their surroundings in a more intuitive manner. While VLMs offer rich multimodal reasoning, existing…