相关论文: Learning Object-Centric Spatial Reasoning for Sequ…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

3D semantic occupancy prediction, which seeks to provide accurate and comprehensive representations of environment scenes, is important to autonomous driving systems. For autonomous cars equipped with multi-camera and LiDAR, it is critical…

Continuous control tasks often involve high-dimensional, dynamic, and non-linear environments. State-of-the-art performance in these tasks is achieved through complex closed-box policies that are effective, but suffer from an inherent…

When deploying reinforcement learning policies to physical robots, actuator rate constraints -- hard limits on how fast each joint can move per control step -- are unavoidable. These limits vary substantially across joints due to…

Vision-centric hierarchical embodied models have demonstrated strong potential. However, existing methods lack spatial awareness capabilities, limiting their effectiveness in bridging visual plans to actionable control in complex…

Humans naturally decompose their environment into entities at the appropriate level of abstraction to act in the world. Allowing machine learning algorithms to derive this decomposition in an unsupervised way has become an important line of…

Spatial reasoning in large-scale 3D environments such as warehouses remains a significant challenge for vision-language systems due to scene clutter, occlusions, and the need for precise spatial understanding. Existing models often struggle…

Machine learning-based techniques open up many opportunities and improvements to derive deeper and more practical insights from data that can help businesses make informed decisions. However, the majority of these techniques focus on the…

This paper focuses on the scalable robot learning for manipulation in the dexterous robot arm-hand systems, where the remote human-robot interactions via augmented reality (AR) are established to collect the expert demonstration data for…

While the rapid progress of deep learning fuels end-to-end reinforcement learning (RL), direct application, especially in high-dimensional space like robotic scenarios still suffers from low sample efficiency. Therefore State Representation…

Existing reinforcement learning methods for Chain-of-Thought reasoning suffer from two critical limitations. First, they operate as monolithic black boxes that provide undifferentiated reward signals, obscuring individual step contributions…

Chain-of-Thought (CoT) reasoning significantly elevates the complex problem-solving capabilities of multimodal large language models (MLLMs). However, adapting CoT to vision typically discretizes signals to fit LLM inputs, causing early…

Embodied intelligence, a grand challenge in artificial intelligence, is fundamentally constrained by the limited spatial understanding and reasoning capabilities of current models. Prevailing efforts to address this through enhancing…

The complexity of the real world demands robotic systems that can intelligently adapt to unseen situations. We present STEER, a robot learning framework that bridges high-level, commonsense reasoning with precise, flexible low-level…

Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…

Object 6D pose estimation is a fundamental task in many applications. Conventional methods solve the task by detecting and matching the keypoints, then estimating the pose. Recent efforts bringing deep learning into the problem mainly…

Reinforcement Learning (RL) is an area of growing interest in the field of artificial intelligence due to its many notable applications in diverse fields. Particularly within the context of intelligent vehicle control, RL has made…

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…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

Reinforcement learning necessitates meticulous reward shaping by specialists to elicit target behaviors, while imitation learning relies on costly task-specific data. In contrast, unsupervised skill discovery can potentially reduce these…