9 accepted papers
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in optimization efficiency due to the (i) combinatorial nature of mo…
We introduce the sequential multi-object robotic grasp sampling algorithm SeqGrasp that can robustly synthesize stable grasps on diverse objects using the robotic hand's partial Degrees of Freedom (DoF). We use SeqGrasp to construct the large-scale Allegro Hand sequential grasping dataset SeqDataset
Diffusion models have shown great promise in decision-making, also known as diffusion planning. However, the slow inference speeds limit their potential for broader real-world applications. Here, we introduce **Habi**, a general framework that transforms powerful but slow diffusion planning models…
Diffusion models have recently shown significant potential in solving decision-making problems, particularly in generating behavior plans -- also known as diffusion planning. While numerous studies have demonstrated the impressive performance of diffusion planning, the mechanisms behind the key comp…
We propose CAPGrasp, an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathbb {R}^{3}\times \text{SO(2)-equivariant}$</tex-math></inline-formula> 6-Degrees of Freedom (DoF) continuous approach-constrained generat
We introduce DexDiffuser, a novel dexterous grasping method that generates, evaluates, and refines grasps on partial object point clouds. DexDiffuser includes the conditional diffusion-based grasp sampler DexSampler and the dexterous grasp evaluator DexEvaluator. DexSampler generates high-quality gr
Human intelligence is adept at absorbing valuable insights from external knowledge. This capability is equally crucial for artificial intelligence. In contrast, classical reinforcement learning agents lack such capabilities and often resort to extensive trial and error to explore the environment.…
Reconstructing general dynamic scenes is important for many computer vision and graphics applications. Recent works represent the dynamic scene with neural radiance fields for photorealistic view synthesis, while their surface geometry is under-constrained and noisy. Other works introduce surface co…
Universal video style transfer aims to migrate arbitrary styles to input videos. However, how to maintain the temporal consistency of videos while achieving high-quality arbitrary style transfer is still a hard nut to crack. To resolve this dilemma, in this paper, we propose the CSBNet which involve…