4 papers
TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Objects in Contact-Rich Scenes
Wen Yang, Zhixian Xie, Yiting Wang +4
Real-time tracking of previously unseen, highly dynamic objects in contact-rich scenes, such as during dexterous in-hand manipulation, remains a major challenge. Pure vision-based…
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…
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair +98
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. Ho…
AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT
Fangbo Qin, Taogang Hou, Shan Lin +3
Towards flexible object-centric visual perception, we propose a one-shot instance-aware object keypoint (OKP) extraction approach, AnyOKP, which leverages the powerful representati…