From the 1 of 10 linked papers with an AI index.
10 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…
CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy
Ria Doshi, Tian Gao, Annie Chen +2
Multi-robot collaboration allows robots to efficiently take on a wide range of tasks, from moving a couch through a doorway to assembling structures on a construction site. However…
Gentle Object Retraction in Dense Clutter Using Multimodal Force Sensing and Imitation Learning
Dane Brouwer, Joshua Citron, Heather Nolte +2
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult f…
Robot-Powered Data Flywheels: Deploying Robots in the Wild for Continual Data Collection and Foundation Model Adaptation
Jennifer Grannen, Michelle Pan, Kenneth Llontop +4
Foundation models (FM) have unlocked powerful zero-shot capabilities in vision and language, yet their reliance on internet pretraining data leaves them brittle in unstructured, re…
Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning
Juntao Ren, Priya Sundaresan, Dorsa Sadigh +2
Teaching robots to autonomously complete everyday tasks remains a challenge. Imitation Learning (IL) is a powerful approach that imbues robots with skills via demonstrations, but i…
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Tyler Ga Wei Lum, Olivia Y. Lee, C. Karen Liu +1
Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos…