7 accepted papers
Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity. Leveraging powerful 3D generative models and vision foundation models (VFMs), the proposed AffordGen framework overcome
Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they function, and which parts are actionable. Scene graphs are a natural choice, yet prior work often separates spatial and funct…
Dense 3D correspondence can enhance robotic manipulation by enabling the generalization of spatial, functional, and dynamic information from one object to an unseen counterpart. Compared to shape correspondence, semantic correspondence is more effective in generalizing across different object catego…
3D assembly tasks, such as furniture assembly and component fitting, play a crucial role in daily life and represent essential capabilities for future home robots. Existing benchmarks and datasets predominantly focus on assembling geometric fragments or factory parts, which fall short in addressing…
We present ArrayBot, a distributed manipulation system consisting of a 16 × 16 array of vertically sliding pillars integrated with tactile sensors. Functionally, ArrayBot is designed to simultaneously support, perceive, and manipulate the tabletop objects. Towards generalizable distributed manipulat…
"Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward the open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among different objects, which helps to naturally transfer the interac…
The task of response selection in multi-turn dialogue is to find the best option from all candidates. In order to improve the reasoning ability of the model, previous studies pay more attention to using explicit algorithms to model the dependencies between utterances, which are deterministic, limite…