相关论文: MotionBricks: Scalable Real-Time Motions with Modu…
Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…
The narrative quality of a video fundamentally determines its perceptual value. Although existing video generation methods can produce visually appealing content, they predominantly rely on sparse conditioning signals such as text prompts…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
The generation of robot motions in the real world is difficult by using conventional controllers alone and requires highly intelligent processing. In this regard, learning-based motion generations are currently being investigated. However,…
Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…
While generative models have become effective at producing human-like motions from text, transferring these motions to humanoid robots for physical execution remains challenging. Existing pipelines are often limited by retargeting, where…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Recent years have seen substantial progress in diffusion-based controllable video generation. However, achieving precise control in complex scenarios, including fine-grained object parts, sophisticated motion trajectories, and coherent…
Whole-body multi-modal human motion generation poses two primary challenges: creating an effective motion generation mechanism and integrating various modalities, such as text, speech, and music, into a cohesive framework. Unlike previous…
Recent advances in transformer-based lightweight object tracking have established new standards across benchmarks, leveraging the global receptive field and powerful feature extraction capabilities of attention mechanisms. Despite these…
Recently, there has been a wealth of development in motion planning for robotic manipulation new motion planners are continuously proposed, each with their own unique strengths and weaknesses. However, evaluating new planners is challenging…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving…
Video generation models have emerged as high-fidelity models of the physical world, capable of synthesizing high-quality videos capturing fine-grained interactions between agents and their environments conditioned on multi-modal user…
Contact-rich manipulation in unstructured environments demands precise, multimodal perception to enable robust and adaptive control. Vision-based tactile sensors (VBTSs) have emerged as an effective solution; however, conventional VBTSs…
Humans rarely plan whole-body interactions with objects at the level of explicit whole-body movements. High-level intentions, such as affordance, define the goal, while coordinated balance, contact, and manipulation can emerge naturally…
Generating realistic, context-aware two-person motion conditioned on diverse modalities remains a fundamental challenge for graphics, animation and embodied AI systems. Real-world applications such as VR/AR companions, social robotics and…
Generating interaction-centric videos, such as those depicting humans or robots interacting with objects, is crucial for embodied intelligence, as they provide rich and diverse visual priors for robot learning, manipulation policy training,…
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the…
Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives…