50 citations · 64 across the 7 of their papers we have counts for
8 papers
ROSA: A Robotics Foundation Model Serving System for Robot Factories
Wenqi Jiang, Jason Clemons, Rowland O'Flaherty +5
Robotics foundation models (RFMs) are making general-purpose robots increasingly practical for factory deployments. While RFM serving systems are central to this vision, existing s…
Cosmos 3: Omnimodal World Models for Physical AI
NVIDIA, :, Aditi +293
We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-t…
VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation
Siyi Chen, Hugo Hadfield, Alex Zook +9
Open-vocabulary long-horizon manipulation requires robots to reason over flexible instructions and complex multi-object scenes while adaptively planning, executing, monitoring, and…
RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
Jenai Xuning Yang, Rishit Dagli, Alex Zook +5
The pursuit of general-purpose robotics has yielded impressive foundation models, yet simulation-based benchmarking remains a bottleneck due to rapid performance saturation and a l…
SPARR: Simulation-based Policies with Asymmetric Real-world Residuals for Assembly
Yijie Guo, Iretiayo Akinola, Lars Johannsmeier +3
Robotic assembly presents a long-standing challenge due to its requirement for precise, contact-rich manipulation. While simulation-based learning has enabled the development of ro…
VLA-0: Building State-of-the-Art VLAs with Zero Modification
Ankit Goyal, Hugo Hadfield, Xuning Yang +2
Vision-Language-Action models (VLAs) hold immense promise for enabling generalist robot manipulation. However, the best way to build them remains an open question. Current approach…
Singularities of serial robots: Identification and distance computation using geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fun…
Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails hi…