3 papers
cs.RO2025
A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation
Jaehyung Kim, Jiho Kim, Dongryung Lee +2
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots a…
cs.RO2025
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
cs.RO2024
DEF-oriCORN: efficient 3D scene understanding for robust language-directed manipulation without demonstrations
Dongwon Son, Sanghyeon Son, Jaehyung Kim +1
We present DEF-oriCORN, a framework for language-directed manipulation tasks. By leveraging a novel object-based scene representation and diffusion-model-based state estimation alg…