40 papers · 1 filter
TaPeR: Probabilistic Recovery of Sparse Task Precedence Graphs from a Handful of Demonstrations
Adrian Röfer, Karla Stepanova, Abhinav Valada
Long-horizon manipulation tasks are often only partially ordered. For example, when assembling an electronic device, the battery and circuit board may be installed in either order,…
Human-Centered Reflections on Care Robots: A Comparative Study of Caregiver Perspectives
Laura Londoño, Klaus Baumann, Abhinav Valada +1
Care robots are increasingly being introduced into healthcare settings, raising important questions about their acceptance and ethical implementation. To better understand these ch…
One Hand Watches The Other: Dynamic Multi-Agent Cooperation for Sample-Efficient Bimanual Manipulation in Dynamic Environments
Jan Ole von Hartz, Abhinav Valada, Joschka Boedecker
Multi-stream robot manipulation policies achieve unparalleled sample efficiency and generalization by modeling actions relative to environmental reference frames. However, existing…
Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots
Roberto Corlito, Fabian Schmidt, Nils Seibert +3
Autonomous navigation of quadrupedal robots in diverse environments fundamentally relies on resilient Simultaneous Localization and Mapping (SLAM). While visual-inertial SLAM has m…
3D Scene Graphs: Open Challenges and Future Directions
Dennis Rotondi, Francesco Argenziano, Sebastian Koch +10
3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Thei…
The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning
Jan Ole von Hartz, Adrian Röfer, Joschka Boedecker +1
We present Mixture of Discrete-time Gaussian Processes (MiDiGap), a novel approach for flexible policy representation and imitation learning in robot manipulation. MiDiGap enables…