相关论文: Visual Prompt Guided Unified Pushing Policy

Pre-trained vision-language models (VLMs) have shown impressive performance on various downstream tasks by utilizing knowledge learned from large data. In general, the performance of VLMs on target tasks can be further improved by prompt…

The web is littered with images, once created for human consumption and now increasingly interpreted by agents using vision-language models (VLMs). These agents make visual decisions at scale, deciding what to click, recommend, or buy. Yet,…

In computer vision, Visual Prompting (VP) and Visual Prompt Tuning (VPT) have recently emerged as lightweight and effective alternatives to full fine-tuning for adapting large-scale vision models within the "pretrain-then-finetune"…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Recent advancements in instruction-following models have made user interactions with models more user-friendly and efficient, broadening their applicability. In graphic design, non-professional users often struggle to create visually…

Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…

In this paper, we tackle the problem of pushing piles of small objects into a desired target set using visual feedback. Unlike conventional single-object manipulation pipelines, which estimate the state of the system parametrized by pose,…

Existing pipelines for vision-language models (VLMs) in robotic manipulation prioritize broad semantic generalization from images and language, but typically omit execution-critical parameters required for contact-rich actions in…

The objective of this work is to explore how to effectively and efficiently adapt pre-trained visual foundation models to various downstream tasks of semantic segmentation. Previous methods usually fine-tuned the entire networks for each…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

While it is generally acknowledged that force feedback is beneficial to robotic control, applications of policy learning to robotic manipulation typically only leverage visual feedback. Recently, symmetric neural models have been used to…

Large vision-language models (VLMs) have shown significant performance boost in various application domains. However, adopting them to deal with several sequentially encountered tasks has been challenging because finetuning a VLM on a task…

Vision-language models (VLMs), such as CLIP, have shown strong generalization under zero-shot settings, yet adapting them to downstream tasks with limited supervision remains a significant challenge. Existing multi-modal prompt learning…

Vision-Language Navigation (VLN) is a challenging task that requires an embodied agent to perform action-level modality alignment, i.e., make instruction-asked actions sequentially in complex visual environments. Most existing VLN agents…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Guided policy search algorithms can be used to optimize complex nonlinear policies, such as deep neural networks, without directly computing policy gradients in the high-dimensional parameter space. Instead, these methods use supervised…

Vision-language models (VLMs) have excelled in multimodal tasks, but adapting them to embodied decision-making in open-world environments presents challenges. One critical issue is bridging the gap between discrete entities in low-level…

Prompt tuning is a technology that tunes a small set of parameters to steer a pre-trained language model (LM) to directly generate the output for downstream tasks. Recently, prompt tuning has demonstrated its storage and computation…

Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement…