4 papers
Dynamic Execution Horizon Prediction for Chunk-based Robot Policies
Yuchi Zhao, Miroslav Bogdanovic, Arjun Sohal +5
Action chunking has become a standard design in modern robot policies, from diffusion/flow policies to vision-language-action models, where the policy predicts a sequence of action…
MATTERIX: toward a digital twin for robotics-assisted chemistry laboratory automation
Kourosh Darvish, Arjun Sohal, Abhijoy Mandal +20
Accelerated materials discovery is critical for addressing global challenges. However, developing new laboratory workflows relies heavily on real-world experimental trials, and thi…
AnyPlace: Learning Generalized Object Placement for Robot Manipulation
Yuchi Zhao, Miroslav Bogdanovic, Chengyuan Luo +5
Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stag…
ORGANA: A Robotic Assistant for Automated Chemistry Experimentation and Characterization
Kourosh Darvish, Marta Skreta, Yuchi Zhao +9
Chemistry experiments can be resource- and labor-intensive, often requiring manual tasks like polishing electrodes in electrochemistry. Traditional lab automation infrastructure fa…