15 papers
Patch Policy: Efficient Embodied Control via Dense Visual Representations
Gaoyue Zhou, Zichen Jeff Cui, Ada Langford +3
Pretrained dense visual features from Vision Transformers (ViTs) are powerful yet have been underutilized in robot learning. Modern robot policies either compress each observation…
Human Universal Grasping
Kevin Yuanbo Wu, Tianxing Zhou, Isaac Tu +5
Humans can grasp objects effortlessly, whereas multi-fingered robots are far from this level of generality. We argue that the most natural source of robot grasping data is from hum…
Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
Xinqi Lucas Liu, Ruoxi Hu, Alejandro Ojeda Olarte +6
Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, t…
Point Bridge: 3D Representations for Cross Domain Policy Learning
Siddhant Haldar, Lars Johannsmeier, Lerrel Pinto +4
Robot foundation models are beginning to deliver on the promise of generalist robotic agents, yet progress remains constrained by the scarcity of large-scale real-world manipulatio…
Quality over Quantity: Demonstration Curation via Influence Functions for Data-Centric Robot Learning
Haeone Lee, Taywon Min, Junsu Kim +4
Learning from demonstrations has emerged as a promising paradigm for end-to-end robot control, particularly when scaled to diverse and large datasets. However, the quality of demon…
YOR: Your Own Mobile Manipulator for Generalizable Robotics
Manan H Anjaria, Mehmet Enes Erciyes, Vedant Ghatnekar +11
Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the com…