相关论文: Spotlighting Task-Relevant Features: Object-Centri…

Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…

The generalization ability of visuomotor policy is crucial, as a good policy should be deployable across diverse scenarios. Some methods can collect large amounts of trajectory augmentation data to train more generalizable imitation…

Robots equipped with rich sensing modalities (e.g., RGB-D cameras) performing long-horizon tasks motivate the need for policies that are highly memory-efficient. State-of-the-art approaches for controlling robots often use memory…

3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically…

Disentangled distributed representations of data are desirable for machine learning, since they are more expressive and can generalize from fewer examples. However, for complex data, the distributed representations of multiple objects…

While recent model-free Reinforcement Learning (RL) methods have demonstrated human-level effectiveness in gaming environments, their success in everyday tasks like visual navigation has been limited, particularly under significant…

Object-centric understanding is fundamental to human vision and required for complex reasoning. Traditional methods define slot-based bottlenecks to learn object properties explicitly, while recent self-supervised vision models like DINO…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…

Generalist robot policies trained on large-scale datasets such as Open X-Embodiment (OXE) demonstrate strong performance across a wide range of tasks. However, they often struggle to generalize beyond the distribution of their training…

Among the most impressive recent applications of neural decoding is the visual representation decoding, where the category of an object that a subject either sees or imagines is inferred by observing his/her brain activity. Even though…

Robotic manipulation requires precise spatial understanding to interact with objects in the real world. Point-based methods suffer from sparse sampling, leading to the loss of fine-grained semantics. Image-based methods typically feed RGB…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

Unsupervised learning of object-centric representations in dynamic visual scenes is challenging. Unlike most previous approaches that learn to decompose 2D images, we present DynaVol, a 3D scene generative model that unifies geometric…

Pre-trained vision models (PVMs) are fundamental to modern robotics, yet their optimal configuration remains unclear. Through systematic evaluation, we find that while DINO and iBOT outperform MAE across visuomotor control and perception…

Learning structured representations of the visual world in terms of objects promises to significantly improve the generalization abilities of current machine learning models. While recent efforts to this end have shown promising empirical…

Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features…

Scalability in terms of object density in a scene is a primary challenge in unsupervised sequential object-oriented representation learning. Most of the previous models have been shown to work only on scenes with a few objects. In this…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…