4 papers
SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
Yuxuan Kuang, Haoran Geng, Amine Elhafsi +5
Humanoid robots hold significant potential in accomplishing daily tasks across diverse environments thanks to their flexibility and human-like morphology. Recent works have made si…
Scan, Materialize, Simulate: A Generalizable Framework for Physically Grounded Robot Planning
Amine Elhafsi, Daniel Morton, Marco Pavone
Autonomous robots must reason about the physical consequences of their actions to operate effectively in unstructured, real-world environments. We present Scan, Materialize, Simula…
Vision Foundation Model Embedding-Based Semantic Anomaly Detection
Max Peter Ronecker, Matthew Foutter, Amine Elhafsi +4
Semantic anomalies are contextually invalid or unusual combinations of familiar visual elements that can cause undefined behavior and failures in system-level reasoning for autonom…
Real-Time Anomaly Detection and Reactive Planning with Large Language Models
Rohan Sinha, Amine Elhafsi, Christopher Agia +3
Foundation models, e.g., large language models (LLMs), trained on internet-scale data possess zero-shot generalization capabilities that make them a promising technology towards de…