8 papers
Bounding Distributional Shifts in World Modeling through Novelty Detection
Eric Jing, Abdeslam Boularias
Recent work on visual world models shows significant promise in latent state dynamics obtained from pre-trained image backbones. However, most of the current approaches are sensiti…
Failure Forecasting Boosts Robustness of Sim2Real Rhythmic Insertion Policies
Yuhan Liu, Xinyu Zhang, Haonan Chang +1
This paper addresses the challenges of Rhythmic Insertion Tasks (RIT), where a robot must repeatedly perform high-precision insertions, such as screwing a nut into a bolt with a wr…
KARL: Kalman-Filter Assisted Reinforcement Learner for Dynamic Object Tracking and Grasping
Kowndinya Boyalakuntla, Abdeslam Boularias, Jingjin Yu
We present Kalman-filter Assisted Reinforcement Learner (KARL) for dynamic object tracking and grasping over eye-on-hand (EoH) systems, significantly expanding such systems capabil…
Integrating Model-based Control and RL for Sim2Real Transfer of Tight Insertion Policies
Isidoros Marougkas, Dhruv Metha Ramesh, Joe H. Doerr +4
Object insertion under tight tolerances () is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent effo…
PROBE: Proprioceptive Obstacle Detection and Estimation while Navigating in Clutter
Dhruv Metha Ramesh, Aravind Sivaramakrishnan, Shreesh Keskar +3
In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, parti…
Motion Blender Gaussian Splatting for Dynamic Scene Reconstruction
Xinyu Zhang, Haonan Chang, Yuhan Liu +1
Gaussian splatting has emerged as a powerful tool for high-fidelity reconstruction of dynamic scenes. However, existing methods primarily rely on implicit motion representations, s…