From the 1 of 19 linked papers with an AI index.
11 papers · 1 filter
Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models
Tianyou Wang, Anson Lei, Joe Watson +1
Imitation learning has emerged as a powerful paradigm for learning visuomotor policies, but its generalisation and stability are limited by the scale and quality of demonstration d…
Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
Jan Schneider, Mridul Mahajan, Le Chen +4
Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice du…
Building Gradient by Gradient: Decentralised Energy Functions for Bimanual Robot Assembly
Alexander L. Mitchell, Joe Watson, Ingmar Posner
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and…
Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications
Kento Kawaharazuka, Jihoon Oh, Jun Yamada +2
Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained s…
Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control
Jun Yamada, Adithyavairavan Murali, Ajay Mandlekar +3
Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered enviro…
Is Single-View Mesh Reconstruction Ready for Robotics?
Frederik Nolte, Andreas Geiger, Bernhard Schölkopf +1
This paper evaluates single-view mesh reconstruction models for their potential in enabling instant digital twin creation for real-time planning and dynamics prediction using physi…