103 citations · 126 across the 10 of their papers we have counts for
11 papers · 1 filter
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…
Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
Yifan Hou, Zeyi Liu, Cheng Chi +5
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by toda…
Semantically Controllable Augmentations for Generalizable Robot Learning
Zoey Chen, Zhao Mandi, Homanga Bharadhwaj +4
Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intract…
Flow as the Cross-Domain Manipulation Interface
Mengda Xu, Zhenjia Xu, Yinghao Xu +4
We present Im2Flow2Act, a scalable learning framework that enables robots to acquire real-world manipulation skills without the need of real-world robot training data. The key idea…
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Jingyun Yang, Zi-ang Cao, Congyue Deng +3
Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem i…
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Zeyi Liu, Cheng Chi, Eric Cousineau +3
Audio signals provide rich information for the robot interaction and object properties through contact. This information can surprisingly ease the learning of contact-rich robot ma…
ContactHandover: Contact-Guided Robot-to-Human Object Handover
Zixi Wang, Zeyi Liu, Nicolas Ouporov +1
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while…
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
Cheng Chi, Zhenjia Xu, Chuer Pan +5
We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to depl…
Foundation Models in Robotics: Applications, Challenges, and the Future
Roya Firoozi, Johnathan Tucker, Stephen Tian +12
We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which li…
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…