9 accepted papers
Diffusion-based policies have established a new standard for precise robotic manipulation but face a critical scalability bottleneck: high-performance models are computationally expensive, while lightweight alternatives often fail to generalize across diverse multi-task environments. Mixture-of-Expe…
Granular materials (GMs) are formed by a collection of particles. Even if their visual representation is straightforward, it can be seriously affected in the visually constrained environment. Based on frequency features observed in force signals, this paper proposes a non-visual classifier, <bold xm
Granular materials (GMs) are ubiquitous in daily life. Understanding their properties is also important, especially in agriculture and industry. However, existing works require dedicated measurement equipment and also need large human efforts to handle a large number of particles. In this paper, we
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveraging Foundation Models (FMs) for spatial reasoning and active view planning, our framework constructs and updates an insta
Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain limited to short-horizon tasks and they are unable to replace the…
Unsupervised Salient Object Detection (USOD) is a promising yet challenging task that aims to learn a salient object detection model without any ground-truth labels. Self-supervised learning based methods have achieved remarkable success recently and have become the dominant approach in USOD. Howeve…
Deep learning models are able to approximate one specific dynamical system but struggle at learning generalisable dynamics, where dynamical systems obey the same laws of physics but contain different numbers of elements (e.g., double- and triple-pendulum systems). To relieve this issue, we proposed…
Video salient object detection aims at discovering the most visually distinctive objects in a video. How to effectively take object motion into consideration during video salient object detection is a critical issue. Existing state-of-the-art methods either do not explicitly model and harvest motion…