6 papers
KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization
Shuxin Cao, Liquan Wang, Masoud Moghani +2
Generalization in robotic manipulation requires policies to perform tasks across diverse unseen object instances that vary in shape, size, and pose. However, conventional behavior…
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
Nadun Ranawaka, Josiah Wong, Wei-Lin Pai +15
Training and evaluating robot policies in the real world is costly and difficult to scale. We introduce SimFoundry, a modular and automated system for zero-shot real-to-sim scene c…
COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones
Ayush Agarwal, Ansh Gandhi, Jeremy A. Collins +6
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platfor…
R-C2: Cycle-Consistent Reinforcement Learning Improves Multimodal Reasoning
Zirui Zhang, Haoyu Dong, Kexin Pei +1
Robust perception and reasoning require consistency across sensory modalities. Yet current multimodal models often violate this principle, yielding contradictory predictions for vi…
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing
Jesse Haworth, Juo-Tung Chen, Nigel Nelson +4
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numer…
SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound
Yunke Ao, Masoud Moghani, Mayank Mittal +6
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. Robotic ultrasound can further enhance its…