12 papers
First Plan Then Evaluate: Multi-Target Planning with Post-Planning Success Evaluation Improves Learning-Based Grasping Pipelines
Martin Matak, Mohanraj Devendran Shanthi, Karl Van Wyk +1
Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based approaches show strong performance, but tend to be sensitive to initializat…
Continuum Robot State Estimation with Actuation Uncertainty
James M. Ferguson, Alan Kuntz, Tucker Hermans
Continuum robots are flexible, slender manipulators well suited for confined surgical environments. In these settings, unknown interaction forces and model uncertainty significantl…
Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification
Yilin Wu, Anqi Li, Tucker Hermans +3
Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain…
Robust Bayesian Scene Reconstruction with Retrieval-Augmented Priors for Precise Grasping and Planning
Herbert Wright, Weiming Zhi, Martin Matak +2
Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noi…
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
Elie Aljalbout, Jiaxu Xing, Angel Romero +9
Machine learning has facilitated significant advancements across various robotics domains, including navigation, locomotion, and manipulation. Many such achievements have been driv…
Fail2Progress: Learning from Real-World Robot Failures with Stein Variational Inference
Yixuan Huang, Novella Alvina, Mohanraj Devendran Shanthi +1
Skill effect models for long-horizon manipulation tasks are prone to failures in conditions not covered by training data distributions. Therefore, enabling robots to reason about a…