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Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robots
Junyao Shi, Rujia Yang, Kaitian Chao +9
Today's best-explored routes towards generalist robots center on collecting ever larger "observations-in actions-out" robotics datasets to train large end-to-end models, copying a…
Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
Yifei Simon Shao, Yuchen Zheng, Sunan Sun +3
Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not de…
Don't Yell at Your Robot: Physical Correction as the Collaborative Interface for Language Model Powered Robots
Chuye Zhang, Yifei Simon Shao, Harshil Parekh +4
We present a novel approach for enhancing human-robot collaboration using physical interactions for real-time error correction of large language model (LLM) powered robots. Unlike…
Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-Manipulation
Yifei Simon Shao, Tianyu Li, Shafagh Keyvanian +3
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks int…
Active Perception using Neural Radiance Fields
Siming He, Christopher D. Hsu, Dexter Ong +2
We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses…
Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities
Yifei Simon Shao, Yuwei Wu, Laura Jarin-Lipschitz +2
Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorp…