9 papers
OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal +14
Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning. This work introduces Off-pol…
Inference-time Policy Steering via Vision and Touch
Yilin Wu, Zilin Si, Zeynep Temel +2
Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate actions before execution. While prior methods typically perform this v…
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…
From Fold to Function: Simulation-Driven Design of Origami Mechanisms
Tianhui Han, Shashwat Singh, Sarvesh Patil +1
Origami-inspired mechanisms can transform flat sheets into functional three-dimensional dynamic structures that are lightweight, compact, and capable of complex motion. These prope…
TerraSkipper: A Centimeter-Scale Robot for Multi-Terrain Skipping and Crawling
Shashwat Singh, Sheri Zhang, Spencer Matonis +1
Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. T…
Interdisciplinary Workshop on Mechanical Intelligence: Summary Report
Victoria A. Webster-Wood, Nicholas Gravish, Amir Alavi +37
This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon tha…