相关论文: Vidarc: Embodied Video Diffusion Model for Closed-…

Recent advances in video generation have been dominated by diffusion and flow-matching models, which produce high-quality results but remain computationally intensive and difficult to scale. In this work, we introduce VideoAR, the first…

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…

Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

Video virtual try-on aims to transfer a clothing item onto the video of a target person. Directly applying the technique of image-based try-on to the video domain in a frame-wise manner will cause temporal-inconsistent outcomes while…

We present ActionDiffusion -- a novel diffusion model for procedure planning in instructional videos that is the first to take temporal inter-dependencies between actions into account in a diffusion model for procedure planning. This…

While most existing neural image compression (NIC) and neural video compression (NVC) methodologies have achieved remarkable success, their optimization is primarily focused on human visual perception. However, with the rapid development of…

We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a…

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architecture through flight tests on a small quadcopter. We demonstrate…

Diffusion models have achieved significant success in image and video generation. This motivates a growing interest in video editing tasks, where videos are edited according to provided text descriptions. However, most existing approaches…

We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…

Video transformers have recently demonstrated strong potential for echocardiogram (echo) analysis, leveraging self-supervised pre-training and flexible adaptation across diverse tasks. However, like other models operating on videos, they…

Real-time motion-controllable video generation remains challenging due to the inherent latency of bidirectional diffusion models and the lack of effective autoregressive (AR) approaches. Existing AR video diffusion models are limited to…

Egocentric human videos provide a scalable source of manipulation demonstrations; however, deploying them on robots requires active viewpoint control to maintain task-critical visibility, which human viewpoint imitation often fails to…

Video generation models have made significant progress in simulating future states, showcasing their potential as world simulators in embodied scenarios. However, existing models often lack robust understanding, limiting their ability to…

Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rotating the handle, widening the gap, holding the door,…

Recently, the advancement of self-supervised learning techniques, like masked autoencoders (MAE), has greatly influenced visual representation learning for images and videos. Nevertheless, it is worth noting that the predominant approaches…

Text-to-video diffusion models have enabled high-quality video synthesis, yet often fail to generate temporally coherent and physically plausible motion. A key reason is the models' insufficient understanding of complex motions that natural…

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…