相关论文: Any2Any: Efficient Cross-Embodiment Transfer for H…

Style transfer aims to render the style of a given image for style reference to another given image for content reference, and has been widely adopted in artistic generation and image editing. Existing approaches either apply the holistic…

Inference-time computation techniques, analogous to human System 2 Thinking, have recently become popular for improving model performances. However, most existing approaches suffer from several limitations: they are modality-specific (e.g.,…

Due to their inherent flexibility and autonomous operation, unmanned aerial vehicles (UAVs) have been widely used in Internet of Medical Things (IoMT) to provide real-time biomedical edge computing service for wireless body area network…

Egocentric human experience data presents a vast resource for scaling up end-to-end imitation learning for robotic manipulation. However, significant domain gaps in visual appearance, sensor modalities, and kinematics between human and…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive…

Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way remains a significant challenge. In this work, we introduce…

3D LiDAR-based single object tracking (SOT) relies on sparse and irregular point clouds, posing challenges from geometric variations in scale, motion patterns, and structural complexity across object categories. Current category-specific…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of…

Current state-of-the-art visual recognition systems usually rely on the following pipeline: (a) pretraining a neural network on a large-scale dataset (e.g., ImageNet) and (b) finetuning the network weights on a smaller, task-specific…

This paper studies the fast adaptive beamforming for the multiuser multiple-input single-output downlink. Existing deep learning-based approaches assume that training and testing channels follow the same distribution which causes task…

For achieving kinematically suitable configurations and highly dynamic task execution, an efficient way is to consider robot performance indices in the whole-body control (WBC) of robots. However, current WBC methods have not considered the…

Human Activity Recognition (HAR) is a core task in pervasive computing systems, where models must operate under strict computational constraints while remaining robust to heterogeneous and evolving deployment conditions. Recent advances…

Adapting image models to the video domain has emerged as an efficient paradigm for solving video recognition tasks. Due to the huge number of parameters and effective transferability of image models, performing full fine-tuning is less…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

Robotic ultrasound (US) systems have shown great potential to make US examinations easier and more accurate. Recently, various machine learning techniques have been proposed to realize automatic US image interpretation for robotic US…

Deep learning for human sensing on edge systems presents significant potential for smart applications. However, its training and development are hindered by the limited availability of sensor data and resource constraints of edge systems.…

Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While the Unified World Model (UWM) formulation…

With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic models are able to interpret complex tasks using language…