5 citations · 7 across the 13 of their papers we have counts for
15 papers
RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks
Kaiyuan Chen, Shuangyu Xie, Uksang Yoo +9
It has been difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, defo…
Revisiting the "Push-T" Robot Manipulation Task with Agentic Robotics
Shuangyu Xie, Kaiyuan Chen, Ken Goldberg
Push-T is an iconic benchmark for learning manipulation policies from human demonstrations. The robot must use a single point of contact to push a T-shaped block into a target pose…
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks
Kaiyuan Chen, Shuangyu Xie, Letian Fu +21
For robots to work reliably in commercial and industrial applications, can recent advances in agentic coding systems combine interpretable robot programming with the open-world ada…
RoboVista: Evaluating Vision Language Models for Diverse Robot Applications
Shuangyu Xie, Kaiyuan Chen, Ziyang Chen +8
Diverse applications for robotics, such as industry and agriculture, require robots to operate across various embodiments, changing visual conditions, and complex planning. Vision-…
Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets
Kaiyuan Chen, Shuangyu Xie, Zehan Ma +2
Vision-Language Models (VLMs) acquire real-world knowledge and general reasoning ability through Internet-scale image-text corpora. They can augment robotic systems with scene unde…
Robo-DM: Data Management For Large Robot Datasets
Kaiyuan Chen, Letian Fu, David Huang +9
Recent results suggest that very large datasets of teleoperated robot demonstrations can be used to train transformer-based models that have the potential to generalize to new scen…
Lightweight, Secure and Stateful Serverless Computing with PSL
Alexander Thomas, Shubham Mishra, Kaiyuan Chen +1
We present PSL, a lightweight, secure and stateful Function-as-a-Serivce (FaaS) framework for Trusted Execution Environments (TEEs). The framework provides rich programming languag…
FogROS2-PLR: Probabilistic Latency-Reliability For Cloud Robotics
Kaiyuan Chen, Nan Tian, Christian Juette +4
Cloud robotics enables robots to offload computationally intensive tasks to cloud servers for performance, cost, and ease of management. However, the network and cloud computing in…
Blox-Net: Generative Design-for-Robot-Assembly Using VLM Supervision, Physics Simulation, and a Robot with Reset
Andrew Goldberg, Kavish Kondap, Tianshuang Qiu +7
Generative AI systems have shown impressive capabilities in creating text, code, and images. Inspired by the rich history of research in industrial ''Design for Assembly'', we intr…
Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2
Adam Rashid, Chung Min Kim, Justin Kerr +11
Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method…
FogROS2-Config: Optimizing Latency and Cost for Multi-Cloud Robot Applications
Kaiyuan Chen, Kush Hari, Rohil Khare +6
Cloud service providers provide over 50,000 distinct and dynamically changing set of cloud server options. To help roboticists make cost-effective decisions, we present FogROS2-Con…
FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity
Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan +5
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on de…
SCL: A Secure Concurrency Layer For Paranoid Stateful Lambdas
Kaiyuan Chen, Alexander Thomas, Hanming Lu +8
We propose a federated Function-as-a-Service (FaaS) execution model that provides secure and stateful execution in both Cloud and Edge environments. The FaaS workers, called Parano…
FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability
Kaiyuan Chen, Jiachen Yuan, Nikhil Jha +3
Fog Robotics renders networked robots with greater mobility, on-demand compute capabilities and better energy efficiency by offloading heavy robotics workloads to nearby Edge and d…
FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2
Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan +12
Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing p…