CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World

Achieving human-level dexterity in robots is a key objective in the field of robotic manipulation. Recent advancements in 3D-based imitation learning have shown promising results, providing an effective pathway to achieve this goal. However, obtaining high-quality 3D representations presents two key problems: (1) the quality of point clouds captured by a single-view camera is significantly affected by factors such as camera resolution, positioning, and occlusions caused by the dexterous hand; (2) the global point clouds lack crucial contact information and spatial correspondences, which are necessary for fine-grained dexterous manipulation tasks. To eliminate these limitations, we propose CordViP, a novel framework that constructs and learns correspondences by leveraging the robust 6D pose estimation of objects and robot proprioception. Specifically, we first introduce the interaction-aware point clouds, which establish correspondences between the object and the hand. These point clouds are then used for our pre-training policy, where we also incorporate object-centric contact maps and hand-arm coordination information, effectively capturing both spatial and temporal dynamics. Our method demonstrates exceptional dexterous manipulation capabilities with an average success rate of 90\% in four real-world tasks, surpassing other baselines by a large margin. Experimental results also highlight the superior generalization and robustness of CordViP to different objects, viewpoints, and scenarios. Code and videos are available on https://aureleopku.github.io/CordViP.

The Best of Both Worlds: On the Dilemma of Out-of-distribution Detection

Out-of-distribution (OOD) detection is essential for model trustworthiness which aims to sensitively identify semantic OOD samples and robustly generalize for covariate-shifted OOD samples. However, we discover that the superior OOD detection performance of state-of-the-art methods is achieved by secretly sacrificing the OOD generalization ability. Specifically, the classification accuracy of these models could deteriorate dramatically when they encounter even minor noise. This phenomenon contradicts the goal of model trustworthiness and severely restricts their applicability in real-world scenarios. What is the hidden reason behind such a limitation? In this work, we theoretically demystify the ``\textit{sensitive-robust}'' dilemma that lies in many existing OOD detection methods. Consequently, a theory-inspired algorithm is induced to overcome such a dilemma. By decoupling the uncertainty learning objective from a Bayesian perspective, the conflict between OOD detection and OOD generalization is naturally harmonized and a dual-optimal performance could be expected. Empirical studies show that our method achieves superior performance on standard benchmarks. To our best knowledge, this work is the first principled OOD detection method that achieves state-of-the-art OOD detection performance without compromising OOD generalization ability. Our code is available at \href{https://github.com/QingyangZhang/DUL}{https://github.com/QingyangZhang/DUL}.