相关论文: AbracADDbra: Touch-Guided Object Addition by Decou…

This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…

Text-to-image models give rise to workflows which often begin with an exploration step, where users sift through a large collection of generated images. The global nature of the text-to-image generation process prevents users from narrowing…

Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explored, limiting stability, precision, and robustness in…

Optical see-through augmented reality (OST-AR) overlays digital targets and annotations on the physical world, offering promising guidance for hands-on tasks such as medical needle insertion or assembly. Recent work on OST-AR depth…

Adding Object into images based on text instructions is a challenging task in semantic image editing, requiring a balance between preserving the original scene and seamlessly integrating the new object in a fitting location. Despite…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

For humans, both the proprioception and touch sensing are highly utilized when performing haptic perception. However, most approaches in robotics use only either proprioceptive data or touch data in haptic object recognition. In this paper,…

In recent years, instruction-based image editing methods have garnered significant attention in image editing. However, despite encompassing a wide range of editing priors, these methods are helpless when handling editing tasks that are…

Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…

A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…

People who are blind or have low vision regularly use their hands to interact with the physical world to gain access to objects' shape, size, weight, and texture. However, many rich visual features remain inaccessible through touch alone,…

Introducing user-specified visual concepts in image editing is highly practical as these concepts convey the user's intent more precisely than text-based descriptions. We propose FreeEdit, a novel approach for achieving such reference-based…

Existing attention mechanisms either attend to local image grid or object level features for Visual Question Answering (VQA). Motivated by the observation that questions can relate to both object instances and their parts, we propose a…

Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we focus on the problem of building physically-valid structures…

To perform household tasks, assistive robots receive commands in the form of user language instructions for tool manipulation. The initial stage involves selecting the intended tool (i.e., object grounding) and grasping it in a…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…

Painting textures for existing geometries is a critical yet labor-intensive process in 3D asset generation. Recent advancements in text-to-image (T2I) models have led to significant progress in texture generation. Most existing research…

Recent advancements in diffusion models have showcased their impressive capacity to generate visually striking images. Nevertheless, ensuring a close match between the generated image and the given prompt remains a persistent challenge. In…

Recent advancements in diffusion models have driven the growth of text-guided image editing tools, enabling precise and iterative modifications of synthesized content. However, as these tools become increasingly accessible, they also…