5 papers
RAPID: Robot Agentic Programming from Demonstrations
Yuyao Liu, Jiayuan Mao, David Hsu +2
Coding agents have demonstrated enormous success in solving complex programming problems. To leverage their potential for robot systems, this work introduces Robot Agentic Programm…
"Set It Up": Functional Object Arrangement with Compositional Generative Models (Journal Version)
Yiqing Xu, Jiayuan Mao, Linfeng Li +4
Functional object arrangement (FORM) is the task of arranging objects to fulfill a function, e.g., "set up a dining table for two". One key challenge here is that the instructions…
"Stack It Up!": 3D Stable Structure Generation from 2D Hand-drawn Sketch
Yiqing Xu, Linfeng Li, Cunjun Yu +1
Imagine a child sketching the Eiffel Tower and asking a robot to bring it to life. Today's robot manipulation systems can't act on such sketches directly-they require precise 3D bl…
"Set It Up!": Functional Object Arrangement with Compositional Generative Models
Yiqing Xu, Jiayuan Mao, Yilun Du +3
This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining ta…
LLMs for Robotic Object Disambiguation
Connie Jiang, Yiqing Xu, David Hsu
The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effe…