相关论文: UNIC: Learning Unified Multimodal Extrinsic Contac…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

Mobile imitation learning on portable demonstration interfaces faces two coupled bottlenecks: locomotion-contaminated action labels and inference-induced execution latency on a continuously moving base. Recent wrist-mounted interfaces lower…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent complexity of these tasks, acquiring sufficient demonstration data…

UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Manipulation without grasping, known as non-prehensile manipulation, is essential for dexterous robots in contact-rich environments, but presents many challenges relating with underactuation, hybrid-dynamics, and frictional uncertainty.…

Pre-captured immersive environments using omnidirectional cameras provide a wide range of virtual reality applications. Previous research has shown that manipulating the eye height in egocentric virtual environments can significantly affect…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…

This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

Pretrained video generation models provide strong priors for robot control, but existing unified world action models still struggle to decode reliable actions without substantial robot-specific training. We attribute this limitation to a…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

We present Neural Contact Fields, a method that brings together neural fields and tactile sensing to address the problem of tracking extrinsic contact between object and environment. Knowing where the external contact occurs is a first step…