103 citations · 103 across the 4 of their papers we have counts for
3 papers · 1 filter
DEF-oriCORN: efficient 3D scene understanding for robust language-directed manipulation without demonstrations
Dongwon Son, Sanghyeon Son, Jaehyung Kim +1
We present DEF-oriCORN, a framework for language-directed manipulation tasks. By leveraging a novel object-based scene representation and diffusion-model-based state estimation alg…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer
Minchan Kim, Junhyek Han, Jaehyung Kim +1
We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate a…