43 citations · 73 across the 13 of their papers we have counts for
7 papers · 1 filter
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…
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…
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…
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…