55 citations · 60 across the 28 of their papers we have counts for
9 papers · 1 filter
Intrinsically Interpretable Attention via Sparse Post-Training
Florent Draye, Anson Lei, Hsiao-Ru Pan +2
We introduce a simple post-training method that makes transformer attention sparse without sacrificing performance. Applying a flexible sparsity regularisation under a constrained-…
Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications
Kento Kawaharazuka, Jihoon Oh, Jun Yamada +2
Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained s…
Kaputt: A Large-Scale Dataset for Visual Defect Detection
Sebastian Höfer, Dorian Henning, Artemij Amiranashvili +6
We present a novel large-scale dataset for defect detection in a logistics setting. Recent work on industrial anomaly detection has primarily focused on manufacturing scenarios wit…
Building Gradient by Gradient: Decentralised Energy Functions for Bimanual Robot Assembly
Alexander L. Mitchell, Joe Watson, Ingmar Posner
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and…
Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control
Jun Yamada, Adithyavairavan Murali, Ajay Mandlekar +3
Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered enviro…
XQC: Well-conditioned Optimization Accelerates Deep Reinforcement Learning
Daniel Palenicek, Florian Vogt, Joe Watson +2
Sample efficiency is a central property of effective deep reinforcement learning algorithms. Recent work has improved this through added complexity, such as larger models, exotic n…
Is Single-View Mesh Reconstruction Ready for Robotics?
Frederik Nolte, Andreas Geiger, Bernhard Schölkopf +1
This paper evaluates single-view mesh reconstruction models for their potential in enabling instant digital twin creation for real-time planning and dynamics prediction using physi…
Task and Joint Space Dual-Arm Compliant Control
Alexander L. Mitchell, Tobit Flatscher, Ingmar Posner
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant frictio…
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping
Jun Yamada, Alexander L. Mitchell, Jack Collins +1
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constrain…