4 papers · 1 filter
Auditing Instruction-Trajectory Mismatches in Multimodal Robot Demonstrations
Simon Holk, Ryosuke Takanami, Tatsuya Matsushima +4
Robot demonstration datasets used to train vision-language-action policies can contain a subtle but harmful failure mode: trajectories that are behaviorally correct but paired with…
AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulation
Ryosuke Takanami, Petr Khrapchenkov, Shu Morikuni +32
As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a centra…
A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics
Takeshi Kojima, Yaonan Zhu, Yusuke Iwasawa +8
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to han…
GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy
So Kuroki, Jiaxian Guo, Tatsuya Matsushima +7
Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-wo…