7 papers
Direct Action-Head Injection of A Grounded 3D Point Unlocks Spatial and Task Generalization
Shiang-Feng Tsai, Jin-Cheng Jhang, Yen-Ling Tai +4
Vision-Language-Action (VLA) models leverage large-scale vision-language pretraining for flexible robot manipulation, yet at test time they remain brittle along two axes: spatial g…
EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
Gaotian Wang, Kejia Ren, Andrew Morgan +4
Internet videos constitute the largest reservoir of embodied human manipulation knowledge, yet converting arbitrary RGB footage into actionable robot training data remains a major…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…
B4P: Simultaneous Grasp and Motion Planning for Object Placement via Parallelized Bidirectional Forests and Path Repair
Benjamin H. Leebron, Kejia Ren, Yiting Chen +1
Robot pick and place systems have traditionally decoupled grasp, placement, and motion planning to build sequential optimization pipelines with the assumption that the individual c…
rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understanding
Howard H. Qian, Yiting Chen, Gaotian Wang +2
Successful execution of dexterous robotic manipulation tasks in new environments, such as grasping, depends on the ability to proficiently segment unseen objects from the backgroun…
Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
Yiting Chen, Kenneth Kimble, Howard H. Qian +3
Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and…