23 accepted papers
Recent advances in generative video models have blurred the boundary between real and synthetic content, raising urgent concerns about digital authenticity. Multimodal large language models (MLLMs) are appealing for AI-generated video (AIGV) forensics due to their broad perceptual and reasoning capa…
Integrating Vision-Language Models (VLMs) into robotics has facilitated the development of generalizable Vision-Language Action (VLA) policies. However, unified discrete frameworks lag behind decoupled continuous designs due to limitations in action chunking and temporal modeling. To address this, w…
Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation learning. However, only few methods incorporate 3D signals into VLMs for action prediction, and they do not fully levera…
Exoskeleton robots are an effective method for enhancing human walking ability. This paper introduces a quasi-passive variable stiffness ankle exoskeleton, which absorbs negative work produced during ankle dorsiflexion in the stance phase of the gait cycle and releases energy to assist plantar flexi
The robotics community has consistently aimed to achieve generalizable robot manipulation with flexible natural language instructions. One primary challenge is that obtaining robot trajectories fully annotated with both actions and texts is time-consuming and labor-intensive. However, partially-anno
Establishing a reliable and iteratively refined robotic system is essential for deploying real-world applications. While Vision-Language-Action (VLA) models are widely recognized as the foundation model for such robotic deployment, their reliance on offline expert demonstrations critically limi…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the visual space using existing methods which overlook precise alig…
Snowfall presents significant challenges for visual data processing, necessitating specialized desnowing algorithms. However, existing models often fail to generalize effectively due to their heavy reliance on synthetic datasets. Furthermore, current real-world snowfall datasets are limited in scale…
Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often data-inefficient and intricate. To address this issue, traditional meth
Real-world vision tasks frequently suffer from the appearance of unexpected adverse weather conditions including rain haze snow and raindrops. In the last decade convolutional neural networks and vision transformers have yielded outstanding results in single-weather video removal. However due to the…
"Snow degradations present formidable challenges to the advancement of computer vision tasks by the undesirable corruption in outdoor scenarios. While current deep learning-based desnowing approaches achieve success on synthetic benchmark datasets, they struggle to restore out-of-distribution real-w…
Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation can significantly benefit from large-scale video generative p…
Recent progress in vision language foundation models has shown their ability to understand multimodal data and resolve complicated vision language tasks, including robotics manipulation. We seek a straightforward way of making use of existing vision-language models (VLMs) with simple fine-tuning on…
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from insufficient action accuracy and robustness against noise. On the…
In this letter, a paradigm for the classification and manipulation of novel objects is established and demonstrated with the example of chairs. Our approach leverages the robot's understanding of object stability, perceptibility, and affordance to prepare previously unseen and randomly oriented chai
Snowfall is a common weather phenomenon that can severely affect computer vision tasks by obscuring objects and scenes. However, existing deep learning-based snow removal methods are designed for single images only. In this paper, we target a more complex task -- video snow removal, which aims to re…
Back exoskeletons can reduce low-back pain and injury for workers engaged in manual handling operations. However, conventional back exoskeletons are incompatible with human trunk kinematics, arousing uncomfortable human-exoskeleton interaction and limiting natural human movement. This article propos
In this paper, we study the problem of autonomously seating a teddy bear on a previously unseen chair. To achieve this goal, we present a novel method for robots to imagine the sitting pose of the bear by physically simulating a virtual humanoid agent sitting on the chair. We also develop a robotic…
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement manipulation which is able to learn efficiently. In addition…
Open containers, i.e., containers without covers, are an important and ubiquitous class of objects in human life. In this letter, we propose a novel method for robots to “imagine” the open containability affordance of a previously unseen object via physical simulations. The robot autonomously scans
Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as surface normals, most probabilistic methods (e.g., coherent poi…
Current Reinforcement Learning (RL) algorithms struggle with long-horizon tasks where time can be wasted exploring dead ends and task progress may be easily reversed. We develop the SPOT framework, which explores within action safety zones, learns about unsafe regions without exploring them, and pri
For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical interactions with the object. In this paper, we propose a n…