7 papers
TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Dongwon Son, Florian Shkurti, Jason Lee +3
A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robo…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments
Yoonyoung Cho, Junhyek Han, Jisu Han +1
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspab…
Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree search
Dongryung Lee, Sejune Joo, Kimin Lee +1
The problem of relocating a set of objects to designated areas amidst movable obstacles can be framed as a Geometric Task and Motion Planning (G-TAMP) problem, a subclass of task a…
A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation
Jaehyung Kim, Jiho Kim, Dongryung Lee +2
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots a…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…