相关论文: Continual Hand-Eye Calibration for Open-world Robo…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

Continual learning enables large language models to adapt to evolving tasks without retraining from scratch, yet catastrophic forgetting remains a central obstacle. Among continual learning methods, regularization-based approaches are…

Dexterous manipulation, often facilitated by multi-fingered robotic hands, holds solid impact for real-world applications. Soft robotic hands, due to their compliant nature, offer flexibility and adaptability during object grasping and…

Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint…

In Continual learning (CL) balancing effective adaptation while combating catastrophic forgetting is a central challenge. Many of the recent best-performing methods utilize various forms of prior task data, e.g. a replay buffer, to tackle…

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…

Healthcare providers are increasingly using machine learning to predict patient outcomes to make meaningful interventions. However, despite innovations in this area, deep learning models often struggle to match performance of shallow linear…

Hand-eye calibration plays a fundamental role in robotics by directly influencing the efficiency of critical operations such as manipulation and grasping. In this work, we present a novel framework, EasyHeC++, designed for fully automatic…

Hand-eye calibration algorithms are mature and provide accurate transformation estimations for an effective camera-robot link but rely on a sufficiently wide range of calibration data to avoid errors and degenerate configurations. To solve…

Training models continually to detect and classify objects, from new classes and new domains, remains an open problem. In this work, we conduct a thorough analysis of why and how object detection models forget catastrophically. We focus on…

The recent development of calibration algorithms has been driven into two major directions: (1) an increasing accuracy of mathematical approaches and (2) an increasing flexibility in usage by reducing the dependency on calibration objects.…

Continual fine-tuning of large language models (LLMs) is becoming increasingly crucial as these models are deployed in dynamic environments where tasks and data distributions evolve over time. While strong adaptability enables rapid…

Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…

Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in…

Robotic manipulation remains challenging for reinforcement learning due to contact-rich dynamics, long horizons, and training instability. Although off-policy actor-critic algorithms such as SAC and TD3 perform well in simulation, they…

Artificial intelligence (AI) and neuroscience share a rich history, with advancements in neuroscience shaping the development of AI systems capable of human-like knowledge retention. Leveraging insights from neuroscience and existing…

Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…

Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…

We present 3D Points Splatting Hand Reconstruction (3D-PSHR), a real-time and photo-realistic hand reconstruction approach. We propose a self-adaptive canonical points upsampling strategy to achieve high-resolution hand geometry…

Rehearsal is a critical component for class-incremental continual learning, yet it requires a substantial memory budget. Our work investigates whether we can significantly reduce this memory budget by leveraging unlabeled data from an…