5 citations · 7 across the 12 of their papers we have counts for
13 papers
FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model
Chenyang Ma, Yue Yang, Radu Corcodel +4
Current work on robot furniture assembly mostly focuses on toy-scale settings or single-arm manipulation. We introduce FurnitureVLA, the first systematic study of real-scale bimanu…
Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM
Chiori Hori, Yoshiki Masuyama, Siddarth Jain +4
Human-robot collaboration towards a shared goal requires robots to understand human action and interaction with the surrounding environment. This paper focuses on human-robot inter…
SpinBench: Perspective and Rotation as a Lens on Spatial Reasoning in VLMs
Yuyou Zhang, Radu Corcodel, Chiori Hori +2
We present SpinBench, a cognitively grounded diagnostic benchmark for evaluating spatial reasoning in vision language models (VLMs). SpinBench is designed around the core challenge…
Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning
Yuyou Zhang, Radu Corcodel, Ding Zhao
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system.…
GRAM: Generalization in Deep RL with a Robust Adaptation Module
James Queeney, Xiaoyi Cai, Alexander Schperberg +3
The reliable deployment of deep reinforcement learning in real-world settings requires the ability to generalize across a variety of conditions, including both in-distribution scen…
LLMPhy: Parameter-Identifiable Physical Reasoning Combining Large Language Models and Physics Engines
Anoop Cherian, Radu Corcodel, Siddarth Jain +1
Most learning-based approaches to complex physical reasoning sidestep the crucial problem of parameter identification (e.g., mass, friction) that governs scene dynamics, despite it…
Autonomous Robotic Assembly: From Part Singulation to Precise Assembly
Kei Ota, Devesh K. Jha, Siddarth Jain +5
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem w…
Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly
Haohong Lin, Radu Corcodel, Ding Zhao
Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble S…
Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks
Lingfeng Sun, Devesh K. Jha, Chiori Hori +5
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive result…
Style-transfer based Speech and Audio-visual Scene Understanding for Robot Action Sequence Acquisition from Videos
Chiori Hori, Puyuan Peng, David Harwath +7
To realize human-robot collaboration, robots need to execute actions for new tasks according to human instructions given finite prior knowledge. Human experts can share their knowl…
Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills
Seiji Shaw, Devesh K. Jha, Arvind Raghunathan +4
Dynamic movement primitives are widely used for learning skills which can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and s…
Lyapunov Robust Constrained-MDPs: Soft-Constrained Robustly Stable Policy Optimization under Model Uncertainty
Reazul Hasan Russel, Mouhacine Benosman, Jeroen Van Baar +1
Safety and robustness are two desired properties for any reinforcement learning algorithm. CMDPs can handle additional safety constraints and RMDPs can perform well under model unc…
Tuning-Free Contact-Implicit Trajectory Optimization
Aykut Ozgun Onol, Radu Corcodel, Philip Long +1
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial g…