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cs.RO2024
GLOVER: Generalizable Open-Vocabulary Affordance Reasoning for Task-Oriented Grasping
Teli Ma, Zifan Wang, Jiaming Zhou +2
Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp…
cs.RO2024
Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation
Teli Ma, Jiaming Zhou, Zifan Wang +2
Developing robots capable of executing various manipulation tasks, guided by natural language instructions and visual observations of intricate real-world environments, remains a s…
cs.CV2024
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation
Jiaming Zhou, Teli Ma, Kun-Yu Lin +3
Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited s…