From the 1 of 9 linked papers with an AI index.
9 papers
Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
Dian Wang, Jisang Park, Xiaomeng Xu +3
The paper introduces Mixture of Frames Policy (MoF), a diffusion-based visuomotor controller that denoises actions simultaneously in several coordinate frames to better handle bima…
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Ryan Punamiya, Simar Kareer, Zeyi Liu +37
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternati…
PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot
Yimeng Qin, Xiaomeng Xu, William Heap +3
Vine robots, a class of soft, growing robots, are suitable for navigating complex and confined environments due to their compliant bodies and self-supporting growth mechanism. Howe…
HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations
Xiaomeng Xu, Jisang Park, Han Zhang +6
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free hum…
In-the-Wild Compliant Manipulation with UMI-FT
Hojung Choi, Yifan Hou, Chuer Pan +5
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragili…
RoboPanoptes: The All-seeing Robot with Whole-body Dexterity
Xiaomeng Xu, Dominik Bauer, Shuran Song
We present RoboPanoptes, a capable yet practical robot system that achieves whole-body dexterity through whole-body vision. Its whole-body dexterity allows the robot to utilize its…