5 citations · 7 across the 12 of their papers we have counts for
8 papers · 1 filter
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…
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.…
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…
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…
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…