4 papers
HRT1: One-Shot Human-to-Robot Trajectory Transfer for Mobile Manipulation
Sai Haneesh Allu, Jishnu Jaykumar P, Ninad Khargonkar +3
We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of fou…
Motion Planning with Precedence Specifications via Augmented Graphs of Convex Sets
Shilin You, Gael Luna, Juned Shaikh +4
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method…
DexFlyWheel: A Scalable and Self-improving Data Generation Framework for Dexterous Manipulation
Kefei Zhu, Fengshuo Bai, YuanHao Xiang +8
Dexterous manipulation is critical for advancing robot capabilities in real-world applications, yet diverse and high-quality datasets remain scarce. Existing data collection method…
Build Once, Monitor Continuously: Persistent Semantic Mapping via Autonomous Exploration and Open-Vocabulary Object Updates
Sai Haneesh Allu, Itay Kadosh, Tyler Summers +1
Persistent semantic monitoring of indoor spaces such as warehouses, hospitals, and offices requires a robot to repeatedly monitor an environment and track how objects change over t…