4 papers
MessyNav: Zero-Shot Navigation via Manipulation in Messy Environments
Kenneth Llontop, Cherie Ho, Dylan Zhou +4
Real-world environments are messy, with paths often blocked by everyday objects like chairs and toys, requiring robots to perform interactive navigation by manipulating obstacles t…
ClothAtlas: Joint Garment Identification and State Estimation under Self-Occlusion
Jens Lundell, Alberta Longhini, Lei Shu +6
Garment manipulation requires inferring both garment identity and complete configuration from partial, self-occluded observations. This creates a chicken-and-egg problem: completin…
Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them
Carlota Parés-Morlans, Nils Kuhn, Y. Isabel Liu +3
We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich manipulation tasks that require precise physical interaction. Prior wo…
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…