22 citations · 23 across the 10 of their papers we have counts for
14 papers · 1 filter
DREAMSTEER: Latent World Models Can Steer VLA Policies During Deployment Without Any Finetuning
Hanchen Cui, Sergio Arnaud, Arjun Majumdar +5
Pretrained vision-language-action (VLA) policies show promising zero-shot generalization, but often fail under deployment-time distribution shift, leading to decreased robustness a…
Learning Category-level Last-meter Navigation from RGB Demonstrations of a Single-instance
Tzu-Hsien Lee, Fidan Mahmudova, Karthik Desingh
Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee…
SENT Map -- Semantically Enhanced Topological Maps with Foundation Models
Raj Surya Rajendran Kathirvel, Zach A Chavis, Stephen J. Guy +1
We introduce SENT-Map, a semantically enhanced topological map for representing indoor environments, designed to support autonomous navigation and manipulation by leveraging advanc…
SPARK-Remote: A Cost-Effective System for Remote Bimanual Robot Teleoperation
Adam Imdieke, Karthik Desingh
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR t…
SuperQ-GRASP: Superquadrics-based Grasp Pose Estimation on Larger Objects for Mobile-Manipulation
Xun Tu, Karthik Desingh
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which r…
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks
Ryan Diaz, Adam Imdieke, Vivek Veeriah +1
Operating in unstructured environments like households requires robotic policies that are robust to out-of-distribution conditions. Although much work has been done in evaluating r…