相关论文: Few-Shot Neural Differentiable Simulator: Real-to-…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

Expensive bounding-box annotations have limited the development of object detection task. Thus, it is necessary to focus on more challenging task of few-shot object detection. It requires the detector to recognize objects of novel classes…

Realistic simulation is critical for applications ranging from robotics to animation. Traditional analytic simulators sometimes struggle to capture sufficiently realistic simulation which can lead to problems including the well known…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…

Dynamic graphs provide a flexible data abstraction for modelling many sorts of real-world systems, such as transport, trade, and social networks. Graph neural networks (GNNs) are powerful tools allowing for different kinds of prediction and…

Differentiable simulators represent an environment's dynamics as a differentiable function. Within robotics and autonomous driving, this property is used in Analytic Policy Gradients (APG), which relies on backpropagating through the…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…

Human fingerprints serve as one unique and powerful characteristic for each person, from which policemen can recognize the identity. Similar to humans, many natural bodies and intrinsic mechanical qualities can also be uniquely identified…

Learning from a few examples is an important practical aspect of training classifiers. Various works have examined this aspect quite well. However, all existing approaches assume that the few examples provided are always correctly labeled.…

Deep neural networks (DNNs) are known to perform well when deployed to test distributions that shares high similarity with the training distribution. Feeding DNNs with new data sequentially that were unseen in the training distribution has…

Realistic and diverse 3D shape generation is helpful for a wide variety of applications such as virtual reality, gaming, and animation. Modern generative models, such as GANs and diffusion models, learn from large-scale datasets and…

Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…

Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, where end-to-end policy finetuning remains inefficient and…

In sim-to-real Reinforcement Learning (RL), a policy is trained in a simulated environment and then deployed on the physical system. The main challenge of sim-to-real RL is to overcome the reality gap - the discrepancies between the real…

Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Computationally weak systems and demanding graphical applications are still mostly dependent on linear blendshapes for facial animations. The accompanying artifacts such as self-intersections, loss of volume, or missing soft tissue…

Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods by using extensive physics simulations. This paper proposes…