4 papers
Preference-Based Long-Horizon Robotic Stacking with Multimodal Large Language Models
Wanming Yu, Adrian Röfer, Abhinav Valada +1
Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they h…
Articulated Object Estimation in the Wild
Abdelrhman Werby, Martin Büchner, Adrian Röfer +3
Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation…
Imagine2touch: Predictive Tactile Sensing for Robotic Manipulation using Efficient Low-Dimensional Signals
Abdallah Ayad, Adrian Röfer, Nick Heppert +1
Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to…
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing
Russell Buchanan, Adrian Röfer, João Moura +2
From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articula…