14 papers
Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control
Rutav Shah, Yisu Li, Femi Bello +2
General-purpose robots operating in partially observable environments, such as homes, require memory to support autonomy. They must recall diverse information from the past, such a…
T-Rex: Tactile-Reactive Dexterous Manipulation
Dantong Niu, Zhuoyang Liu, Zekai Wang +31
The ability to react dynamically to tactile signals has long been considered crucial to agile human-level dexterity. Yet contemporary learning-based Vision-Language-Action (VLA) mo…
Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks
Rutav Shah, Rajat Kumar Jenamani, Xiaohan Zhang +5
Many robotic tasks require short-term memory, whether it's retrieving an object that's no longer visible or turning off an appliance after a set period. Yet, most visuomotor polici…
SoftMimicGen: A Data Generation System for Scalable Robot Learning in Deformable Object Manipulation
Masoud Moghani, Mahdi Azizian, Animesh Garg +3
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to th…
FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation
Siqi Shang, Mingyo Seo, Yuke Zhu +1
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high inte…
LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models
Xiaohan Zhang, Yan Ding, Yohei Hayamizu +6
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods m…