5 citations · 5 across the 11 of their papers we have counts for
6 papers · 1 filter
Scaffolding Dexterous Manipulation with Vision-Language Models
Vincent de Bakker, Joey Hejna, Tyler Ga Wei Lum +6
Dexterous robotic hands are essential for performing complex manipulation tasks, yet remain difficult to train due to the challenges of demonstration collection and high-dimensiona…
CUPID: Curating Data your Robot Loves with Influence Functions
Christopher Agia, Rohan Sinha, Jingyun Yang +5
In robot imitation learning, policy performance is tightly coupled with the quality and composition of the demonstration data. Yet, developing a precise understanding of how indivi…
HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
Priya Sundaresan, Rhea Malhotra, Phillip Miao +7
We introduce HoMeR, an imitation learning framework for mobile manipulation that combines whole-body control with hybrid action modes that handle both long-range and fine-grained m…
Causal-PIK: Causality-based Physical Reasoning with a Physics-Informed Kernel
Carlota Parés-Morlans, Michelle Yi, Claire Chen +4
Tasks that involve complex interactions between objects with unknown dynamics make planning before execution difficult. These tasks require agents to iteratively improve their acti…
Mobi-: Mobilizing Your Robot Learning Policy
Jingyun Yang, Isabella Huang, Brandon Vu +3
Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot posi…
SLAG: Scalable Language-Augmented Gaussian Splatting
Laszlo Szilagyi, Francis Engelmann, Jeannette Bohg
Language-augmented scene representations hold great promise for large-scale robotics applications such as search-and-rescue, smart cities, and mining. Many of these scenarios are t…