相关论文: PGDG: Physically Grounded Data Generation for Robu…

Procedural content generation via machine learning (PCGML) is typically framed as the task of fitting a generative model to full-scale examples of a desired content distribution. This approach presents a fundamental tension: the more design…

The rapid evolution of generative AI, from GANs to modern diffusion models, has resulted in increasingly subtle discriminative clues. These fine-grained signals are often overshadowed by dominant, high-fidelity image content (e.g., the main…

Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…

The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…

Single-Domain Generalized Object Detection~(S-DGOD) aims to train on a single source domain for robust performance across a variety of unseen target domains by taking advantage of an object detector. Existing S-DGOD approaches often rely on…

Scene Graph Generation is a critical enabler of environmental comprehension for autonomous robotic systems. Most of existing methods, however, are often thwarted by the intricate dynamics of background complexity, which limits their ability…

Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this…

We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and task specifications, DGDM generates sensor-less manipulator…

Contact-rich dexterous manipulation with multi-finger hands remains an open challenge in robotics because task success depends on multi-point contacts that continuously evolve and are highly sensitive to object geometry, frictional…

Photoplethysmography (PPG) is a widely adopted, non-invasive technique for monitoring cardiovascular health and physiological parameters in both consumer and clinical settings. While motion artifacts in dynamic environments have been…

Recently, significant progress has been made in text-based motion generation, enabling the generation of diverse and high-quality human motions that conform to textual descriptions. However, generating motions beyond the distribution of…

Image classification is a task essential for machine perception to achieve human-level image understanding. Multimodal models such as CLIP have been able to perform well on this task by learning semantic similarities across vision and…

Generative models can serve as surrogates for some real data sources by creating synthetic training datasets, but in doing so they may transfer biases to downstream tasks. We focus on protecting quality and diversity when generating…

This paper presents IMAGGarment, a fine-grained garment generation (FGG) framework that enables high-fidelity garment synthesis with precise control over silhouette, color, and logo placement. Unlike existing methods that are limited to…

Policy gradient (PG) methods have played an essential role in the empirical successes of reinforcement learning. In order to handle large state-action spaces, PG methods are typically used with function approximation. In this setting, the…

Training fingerprint recognition models using synthetic data has recently gained increased attention in the biometric community as it alleviates the dependency on sensitive personal data. Existing approaches for fingerprint generation are…

Effective data-driven biomedical discovery requires data curation: a time-consuming process of finding, organizing, distilling, integrating, interpreting, annotating, and validating diverse information into a structured form suitable for…

Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or…

Machine learning, particularly deep learning, is transforming industrial quality inspection. Yet, training robust machine learning models typically requires large volumes of high-quality labeled data, which are expensive, time-consuming,…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…