相关论文: Learning Geometrically-Grounded 3D Visual Represen…

Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-level reasoning about where and what can be offloaded to…

Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

The field of self-supervised 3D representation learning has emerged as a promising solution to alleviate the challenge presented by the scarcity of extensive, well-annotated datasets. However, it continues to be hindered by the lack of…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

We introduce a pioneering approach to self-supervised learning for point clouds, employing a geometrically informed mask selection strategy called GeoMask3D (GM3D) to boost the efficiency of Masked Auto Encoders (MAE). Unlike the…

Material generalization is essential for real-world robotic manipulation, where robots must interact with objects exhibiting diverse visual and physical properties. This challenge is particularly pronounced for objects made of glass, metal,…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

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…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

In this paper we present a novel unsupervised representation learning approach for 3D shapes, which is an important research challenge as it avoids the manual effort required for collecting supervised data. Our method trains an RNN-based…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Recent works have shown that large models pretrained on common visual learning tasks can provide useful representations for a wide range of specialized perception problems, as well as a variety of robotic manipulation tasks. While prior…

Learning-based 3D reconstruction methods have shown impressive results. However, most methods require 3D supervision which is often hard to obtain for real-world datasets. Recently, several works have proposed differentiable rendering…

Generating accurate 3D models is a challenging problem that traditionally requires explicit learning from 3D datasets using supervised learning. Although recent advances have shown promise in learning 3D models from 2D images, these methods…

Existing efforts in building Graphical User Interface (GUI) agents largely rely on the training paradigm of supervised fine-tuning on Large Vision-Language Models (LVLMs). However, this approach not only demands extensive amounts of…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…

The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to…

We study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…