4 papers · 1 filter
Scouting the Dynamics Gap: Test-Time Policy Adaptation via Action-Outcome Feedback
Yishu Li, Liyuan Geng, Xinyi Mao +2
While pretrained robotic policies exhibit impressive capabilities in controlled environments, unobserved physical properties and dynamics require these policies to rapidly adapt du…
Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement
Kallol Saha, Amber Li, Angela Rodriguez-Izquierdo +4
Long-horizon planning for robot manipulation is a challenging problem that requires reasoning about the effects of a sequence of actions on a physical 3D scene. While traditional t…
CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception
Pranav N. Thakkar, Shubhangi Sinha, Karan Baijal +11
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that ca…
Embodied Active Learning of Relational State Abstractions for Bilevel Planning
Amber Li, Tom Silver
State abstraction is an effective technique for planning in robotics environments with continuous states and actions, long task horizons, and sparse feedback. In object-oriented en…