6 papers
SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control
Siddarth Jain, Ho Jin Choi
Robotic manipulators excel in structured environments but face substantial challenges in unstructured and dynamic settings. This paper presents SplatCtrl, a unified framework for r…
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…
VOLT: Vision and Language Trajectory Segmentation for Faster-than-Demonstration Policies
Robert Ramirez Sanchez, Daniel J. Evans, Dylan P. Losey +1
Humans often take longer to demonstrate a task than a robot would need to execute it. Rather than learning to replicate the demonstration at the same pace, many industrial and prac…
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…
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…
Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning
Prasanth Sengadu Suresh, Siddarth Jain, Prashant Doshi +1
The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previ…