11 papers
KiRoSe: Using Kinematic Data for Efficient Segmentation of Robot Demonstrations
Shuangyu Xie, Kaiyuan Chen, Muhammad Zubair Irshad +3
Segmenting robot demonstration data into disjoint temporal and semantic subsegments is valuable for learning, cleaning, retrieval, and analysis. Segmentation is often performed man…
MobileVISTA: Generative Data Augmentation for Pose Generalization in Mobile Manipulation
Suzannah Wistreich, Stephen Tian, Isabella Huang +4
Mobile manipulators such as humanoid robots are increasingly deployed in dynamic, unstructured environments to perform dexterous manipulation tasks. However, end-to-end manipulatio…
BIND: Binding 3D Robot Actions to 2D Image Features
Cameron Smith, Arsh Tangri, Vitor Guizilini +3
We introduce BIND, a new action representation for visuomotor robot policies that binds 3D robot actions to their corresponding 2D image features, yielding strong data efficiency g…
H2RBench: A Real-to-Sim Benchmark for Evaluating Human-to-Robot Transfer
Chuyang Xiao, Haotian Zhan, Sriram Krishna +4
Learning robot manipulation policies from human video demonstrations constitutes a promising avenue for scalable robot learning. However, comparing different human-to-robot (H2R) t…
ASK-NN: An Asymmetric Nearest-Neighbor Test that detects Distribution Drifts in Natural Language
Sergey Zakharov, Rodion Oblovatny, Alexey Zaytsev
Hallucinations and artificial text in LLM-generated outputs often appear as distributional deviations between prompt and response hidden-state distributions. Since prompts or retri…
DemoBridge: A Simulation-in-the-Loop Toolkit for Single-View Human Demonstration Retargeting
Zehao Wang, Fabien Despinoy, Sergey Zakharov +2
We present DemoBridge, an toolkit that turns a single-view RGB stereo recording of a human hand demonstration into an executable, physics-validated robot-arm trajectory. Retargetin…
Duet: Dual-Robot Understanding via Efficient Teaching
Yiqi Zhao, Ruohai Ge, Celina Shiyu Wang +10
Dual-robot collaboration enables tasks that exceed the reach and payload of a single robot, such as collaboratively transporting objects across environments and executing coordinat…
From Demonstrations to Rewards: Test-Time Prompt Optimization for VLM Reward Models
Christian Gumbsch, Leonardo Barcellona, Lennard Schünemann +7
Reinforcement learning relies on accurate reward functions, which are often hand-crafted or even unavailable in real-world applications, such as robotics. Recent work has explored…
PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies
Arhan Jain, Mingtong Zhang, Kanav Arora +11
A significant challenge for robot learning research is our ability to accurately measure and compare the performance of robot policies. Benchmarking in robotics is historically cha…
Robot Learning from Any Images
Siheng Zhao, Jiageng Mao, Wei Chow +11
We introduce RoLA, a framework that transforms any in-the-wild image into an interactive, physics-enabled robotic environment. Unlike previous methods, RoLA operates directly on a…
Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
Zhenyu Zhao, Hongyi Jing, Xiawei Liu +7
From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot lear…