相关论文: EnergyAction: Unimanual to Bimanual Composition wi…

We present a fast and effective policy framework for robotic manipulation, named Energy Policy, designed for high-frequency robotic tasks and resource-constrained systems. Unlike existing robotic policies, Energy Policy natively predicts…

Diffusion models, particularly latent diffusion models, have demonstrated remarkable success in text-driven human motion generation. However, it remains challenging for latent diffusion models to effectively compose multiple semantic…

Language is compositional; an instruction can express multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is an instructable scene-rearranging framework that generalizes…

Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation provides physically grounded data but is prohibitively…

Implicit policies parameterized by generative models, such as Diffusion Policy, have become the standard for policy learning and Vision-Language-Action (VLA) models in robotics. However, these approaches often suffer from high computational…

Current state-of-the-art generative models map noise to data distributions by matching flows or scores. A key limitation of these models is their inability to readily integrate available partial observations and additional priors. In…

Retrosynthesis -- the process of identifying a set of reactants to synthesize a target molecule -- is of vital importance to material design and drug discovery. Existing machine learning approaches based on language models and graph neural…

Merging mobile edge computing (MEC) functionality with the dense deployment of base stations (BSs) provides enormous benefits such as a real proximity, low latency access to computing resources. However, the envisioned integration creates…

Energy-Based Models (EBMs) have proven to be a highly effective approach for modelling densities on finite-dimensional spaces. Their ability to incorporate domain-specific choices and constraints into the structure of the model through…

A crucial design decision for any robot learning pipeline is the choice of policy representation: what type of model should be used to generate the next set of robot actions? Owing to the inherent multi-modal nature of many robotic tasks,…

There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…

Despite the remarkable performance of text-to-image diffusion models in image generation tasks, recent studies have raised the issue that generated images sometimes cannot capture the intended semantic contents of the text prompts, which…

Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…

Existing Bayesian Optimization (BO) methods typically balance exploration and exploitation to optimize costly objective functions. However, these methods often suffer from a significant one-step bias, which may lead to convergence towards…

With the growth of intelligent civil infrastructure and smart cities, operation and maintenance (O&M) increasingly requires safe, efficient, and energy-conscious robotic manipulation of articulated components, including access doors,…

Human motions are compositional: complex behaviors can be described as combinations of simpler primitives. However, existing approaches primarily focus on forward modeling, e.g., learning holistic mappings from text to motion or composing a…

Programming by demonstration is a strategy to simplify the robot programming process for non-experts via human demonstrations. However, its adoption for bimanual tasks is an underexplored problem due to the complexity of hand coordination,…

Performing general language-conditioned bimanual manipulation tasks is of great importance for many applications ranging from household service to industrial assembly. However, collecting bimanual manipulation data is expensive due to the…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Predictive models are highly advanced in understanding the mechanisms of brain function. Recent advances in machine learning further underscore the power of prediction for optimal representation in learning. However, there remains a gap in…