4 papers · 1 filter
Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging
Tianshuang Qiu, Zehan Ma, Karim El-Refai +4
3D Gaussian Splats (3DGSs) are 3D object models derived from multi-view images. Such "digital twins" are useful for simulations, virtual reality, marketing, robot policy fine-tunin…
Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
Justin Kerr, Kush Hari, Ethan Weber +5
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that e…
PyRoki: A Modular Toolkit for Robot Kinematic Optimization
Chung Min Kim, Brent Yi, Hongsuk Choi +3
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present P…
Visual Imitation Enables Contextual Humanoid Control
Arthur Allshire, Hongsuk Choi, Junyi Zhang +7
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human…