43 citations · 73 across the 13 of their papers we have counts for
14 papers
EC: Video Generation with 3D Environmental Memory and Ego-Exo Human Pose Control
Qiao Gu, Lingni Ma, Adam W Harley +3
Controllable and physically grounded egocentric video generation is essential for embodied agents to reason about how their own and others' actions manifest and change the world. C…
The Impact of Class Uncertainty Propagation in Perception-Based Motion Planning
Jibran Iqbal Shah, Andrei Ivanovic, Kelly Zhu +4
Autonomous vehicles (AVs) are being increasingly deployed in urban environments. In order to operate safely and reliably, AVs need to account for the inherent uncertainty associate…
SMAC: Score-Matched Actor-Critics for Robust Offline-to-Online Transfer
Nathan Samuel de Lara, Florian Shkurti
Modern offline Reinforcement Learning (RL) methods find performant actor-critics, however, fine-tuning these actor-critics online with value-based RL algorithms typically causes im…
Scalable Policy Evaluation with Video World Models
Wei-Cheng Tseng, Jinwei Gu, Qinsheng Zhang +4
Training generalist policies for robotic manipulation has shown great promise, as they enable language-conditioned, multi-task behaviors across diverse scenarios. However, evaluati…
SAFE: Multitask Failure Detection for Vision-Language-Action Models
Qiao Gu, Yuanliang Ju, Shengxiang Sun +4
While vision-language-action models (VLAs) have shown promising robotic behaviors across a diverse set of manipulation tasks, they achieve limited success rates when deployed on no…
STITCH-OPE: Trajectory Stitching with Guided Diffusion for Off-Policy Evaluation
Hossein Goli, Michael Gimelfarb, Nathan Samuel de Lara +3
Off-policy evaluation (OPE) estimates the performance of a target policy using offline data collected from a behavior policy, and is crucial in domains such as robotics or healthca…
What Do You Need for Compositional Generalization in Diffusion Planning?
Quentin Clark, Florian Shkurti
In policy learning, stitching and compositional generalization refer to the extent to which the policy is able to piece together sub-trajectories of data it is trained on to genera…
Gaussian Splatting Visual MPC for Granular Media Manipulation
Wei-Cheng Tseng, Ellina Zhang, Krishna Murthy Jatavallabhula +1
Recent advancements in learned 3D representations have enabled significant progress in solving complex robotic manipulation tasks, particularly for rigid-body objects. However, man…
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
Qiao Gu, Alihusein Kuwajerwala, Sacha Morin +13
For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and pla…
Preserving Linear Separability in Continual Learning by Backward Feature Projection
Qiao Gu, Dongsub Shim, Florian Shkurti
Catastrophic forgetting has been a major challenge in continual learning, where the model needs to learn new tasks with limited or no access to data from previously seen tasks. To…
ConceptFusion: Open-set Multimodal 3D Mapping
Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu +14
Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts wit…
TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir +5
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbol…
Physics-based Human Motion Estimation and Synthesis from Videos
Kevin Xie, Tingwu Wang, Umar Iqbal +3
Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data…
gradSim: Differentiable simulation for system identification and visuomotor control
Krishna Murthy Jatavallabhula, Miles Macklin, Florian Golemo +11
We consider the problem of estimating an object's physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is…