相关论文: LACE: Latent Visual Representation for Cross-Embod…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

Deep auto-encoders (DAEs) have achieved great success in learning data representations via the powerful representability of neural networks. But most DAEs only focus on the most dominant structures which are able to reconstruct the data…

While supervised learning has enabled great progress in many applications, unsupervised learning has not seen such widespread adoption, and remains an important and challenging endeavor for artificial intelligence. In this work, we propose…

Zero-shot learning aims to recognize instances of unseen classes, for which no visual instance is available during training, by learning multimodal relations between samples from seen classes and corresponding class semantic…

Despite progress, Vision-Language-Action models (VLAs) are limited by a scarcity of large-scale, diverse robot data. While human manipulation videos offer a rich alternative, existing methods are forced to choose between small,…

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…

In this paper, we focus on the self-supervised learning of visual correspondence using unlabeled videos in the wild. Our method simultaneously considers intra- and inter-video representation associations for reliable correspondence…

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…

Robot manipulation research still suffers from significant data scarcity: even the largest robot datasets are orders of magnitude smaller and less diverse than those that fueled recent breakthroughs in language and vision. We introduce…

3D representation and reconstruction of human bodies have been studied for a long time in computer vision. Traditional methods rely mostly on parametric statistical linear models, limiting the space of possible bodies to linear…

Robotic imitation learning is often treated as reproducing demonstrated actions, but actions are inherently embodiment-specific. When demonstrations come from humans or robots with different morphology, kinematics, or action spaces, this…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

Multimodal imaging and correlative analysis typically require image alignment. Contrastive learning can generate representations of multimodal images, reducing the challenging task of multimodal image registration to a monomodal one.…

Contrastive self-supervised learning (CSL) with a prototypical regularization has been introduced in learning meaningful representations for downstream tasks that require strong semantic information. However, to optimize CSL with a loss…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Current large language models reason in isolation. Although it is common to sample multiple reasoning paths in parallel, these trajectories do not interact, and often fail in the same redundant ways. We introduce LACE, a framework that…

Hand gestures can provide a natural means of human-computer interaction and enable people who cannot speak to communicate efficiently. Existing hand gesture recognition methods heavily depend on pre-defined gestures, however, motor-impaired…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

For assistive robots and virtual agents to achieve ubiquity, machines will need to anticipate the needs of their human counterparts. The field of Learning from Demonstration (LfD) has sought to enable machines to infer predictive models of…