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cs.RO2024
Just Add Force for Contact-Rich Robot Policies
William Xie, Stefan Caldararu, Nikolaus Correll
Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such traje…
cs.RO2024
DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
William Xie, Maria Valentini, Jensen Lavering +1
Large language models (LLMs) can provide rich physical descriptions of most worldly objects, allowing robots to achieve more informed and capable grasping. We leverage LLMs' common…