相关论文: Affordance RAG: Hierarchical Multimodal Retrieval …
This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation, dubbed RAM, featuring generalizability across various objects, environments, and embodiments. Unlike existing approaches that learn manipulation from…
In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances,…
Inferring the affordance of an object and grasping it in a task-oriented manner is crucial for robots to successfully complete manipulation tasks. Affordance indicates where and how to grasp an object by taking its functionality into…
We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing representations such as language, goal images, and trajectory sketches have been shown to…
Robotic manipulation faces critical challenges in understanding spatial affordances--the "where" and "how" of object interactions--essential for complex manipulation tasks like wiping a board or stacking objects. Existing methods, including…
Existing end-to-end approaches of robotic manipulation often lack generalization to unseen objects or tasks due to limited data and poor interpretability. While recent Multimodal Large Language Models (MLLMs) demonstrate strong commonsense…
There is no limit to how much a robot might explore and learn, but all of that knowledge needs to be searchable and actionable. Within language research, retrieval augmented generation (RAG) has become the workhorse of large-scale…
Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…
Recent years have witnessed an emerging paradigm shift toward embodied artificial intelligence, in which an agent must learn to solve challenging tasks by interacting with its environment. There are several challenges in solving embodied…
Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment,…
Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from…
Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity. Leveraging powerful 3D generative models and vision…
To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…
We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently learn such capability, our key idea is to disentangle…
Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…
In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which actions each object affords, and where those affordances can be…
Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…
Language-guided robot dexterous generation enables robots to grasp and manipulate objects based on human commands. However, previous data-driven methods are hard to understand intention and execute grasping with unseen categories in the…
A core problem of Embodied AI is to learn object manipulation from observation, as humans do. To achieve this, it is important to localize 3D object affordance areas through observation such as images (3D affordance grounding) and…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…