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cs.RO2025
From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot Control
Yide Shentu, Philipp Wu, Aravind Rajeswaran +1
Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies. W…
cs.RO2024
What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?
Sneha Silwal, Karmesh Yadav, Tingfan Wu +10
We present a large empirical investigation on the use of pre-trained visual representations (PVRs) for training downstream policies that execute real-world tasks. Our study involve…
cs.RO2024
MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation
Patrick Lancaster, Nicklas Hansen, Aravind Rajeswaran +1
Robotic systems that aspire to operate in uninstrumented real-world environments must perceive the world directly via onboard sensing. Vision-based learning systems aim to eliminat…