4 papers · 1 filter
GemNav: Discrete-Token Visual Robot Navigation using a Multimodal Large Language Model
Peter Bohm, Saimunur Rahman, Abdelwahed Khamis +3
Visual navigation policies built on large pretrained models increasingly rely on large cross-embodiment datasets and expressive action-generation mechanisms. In this paper, we ask…
MobiGuide: Vocabulary-Guided Online Recovery for Mobile Manipulation
Jia Syuen Lim, Zhizhen Zhang, Peter Bohm +3
A central challenge in mobile manipulation is preserving multiple plausible action modes while remaining reactive during execution. For example, grasping a bottle in a cluttered sc…
RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment
Humphrey Munn, Brendan Tidd, Peter Bohm +2
Deploying learned control policies is risky because policies that appear robust in simulation can confidently enter out-of-distribution (OOD) states after Sim-to-Real transfer, cau…
Training Directional Locomotion for Quadrupedal Low-Cost Robotic Systems via Deep Reinforcement Learning
Peter Böhm, Archie C. Chapman, Pauline Pounds
In this work we present Deep Reinforcement Learning (DRL) training of directional locomotion for low-cost quadrupedal robots in the real world. In particular, we exploit randomizat…