103 citations · 154 across the 22 of their papers we have counts for
7 papers · 1 filter
Articulated Object Estimation in the Wild
Abdelrhman Werby, Martin Büchner, Adrian Röfer +3
Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation…
DiWA: Diffusion Policy Adaptation with World Models
Akshay L Chandra, Iman Nematollahi, Chenguang Huang +3
Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward pro…
Multimodal Spatial Language Maps for Robot Navigation and Manipulation
Chenguang Huang, Oier Mees, Andy Zeng +1
Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous…
LUMOS: Language-Conditioned Imitation Learning with World Models
Iman Nematollahi, Branton DeMoss, Akshay L Chandra +3
We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the laten…
Refined Policy Distillation: From VLA Generalists to RL Experts
Tobias Jülg, Wolfram Burgard, Florian Walter
Vision-Language-Action Models (VLAs) have demonstrated remarkable generalization capabilities in real-world experiments. However, their success rates are often not on par with expe…
Label-Efficient LiDAR Panoptic Segmentation
Ahmet Selim Çanakçı, Niclas Vödisch, Kürsat Petek +2
A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability.…
LiDAR Registration with Visual Foundation Models
Niclas Vödisch, Giovanni Cioffi, Marco Cannici +2
LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using po…