6 papers
PerSo: Investigating Facets of LLMs' Social Intelligence in Real-World Persuasion Scenarios
Ali Zamani, Soroush Esfahanian, Erfan Shahabi +3
Understanding the social intelligence of large language models (LLMs) is increasingly important for applications involving human-AI interaction and multi-agent environments. Social…
SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
Kuan Fang, Yuxin Chen, Xinghao Zhu +3
We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently…
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu, Yuxin Chen, Lingfeng Sun +4
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulati…
Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
Huaijiang Zhu, Tong Zhao, Xinpei Ni +4
The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleopera…
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation
Xuanlin Li, Tong Zhao, Xinghao Zhu +3
Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent comple…
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
Jan Brüdigam, Ali-Adeeb Abbas, Maks Sorokin +7
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks re…