7 papers · 1 filter
Learning to Act While Waiting: RL Finetuning of Generalist Robot Policies Under Inference Latency
Brian Zhu, Momen Khalil, E Harrison +17
While reinforcement learning (RL) allows generalist robot policies to continually improve during deployment, the large model size of modern generalist policies, such as VLAs, poses…
A Deployment Case Study in Robotic Apparel Automation: Digital Twin Integration, Interoperability, and Workforce Enablement
Gokul Narayanan, Abhiroop Ajith, Jonathan Zornow +5
Despite steady advances in flexible automation in sectors such as electronics and automotive manufacturing, apparel automation remains challenging because fabrics are deformable an…
A Factory-Floor Deployment Case Study of VLA Pipelines for Industrial Packaging Task: Workflow, Failures, and Lessons
Brian Zhu, Philipp Schmitt, Philine Meister +12
Vision-Language-Action (VLA) policies have shown promising manipulation capabilities, yet their practical impact is often limited by the reliability demands of real-world deploymen…
Closing the Loop in Teleoperation: Episode-Level Data Quality Assessment and Feedback for High-Quality Demonstration Collection
Gokul Narayanan, Yash Shahapurkar, Melih Erdogan +2
Industrial automation is at a pivotal moment, as Physical AI is driving a transition from rigid, hand-engineered automation systems toward more flexible and adaptive systems. This…
Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats
Simeon Adebola, Chung Min Kim, Justin Kerr +5
Commercial plant phenotyping systems using fixed cameras cannot perceive many plant details due to leaf occlusion. In this paper, we present Botany-Bot, a system for building detai…
GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats
Simeon Adebola, Shuangyu Xie, Chung Min Kim +9
Accurate temporal reconstructions of plant growth are essential for plant phenotyping and breeding, yet remain challenging due to complex geometries, occlusions, and non-rigid defo…