17 papers
ARGUS: Aligning Robot Scene Geometry Under Shifting Views with Large 3D Vision Models
Rishik Sathua, Haonan Chen, Katherine Driggs-Campbell
Large-scale visuomotor policies have demonstrated impressive performance across a wide range of robot manipulation tasks. However, despite this success, manipulation polices often…
Brick-Composer: Using MLLMs for Assembly with Diverse Bricks
Jiateng Liu, Bingxuan Li, Zhenhailong Wang +8
We dream of AI agents that can read arbitrary designs and construct real-world objects from reusable building blocks. As a first step toward this vision, we study whether multimoda…
DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors
Pengcheng Wang, Kaiwen Hong, Chensheng Peng +4
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast t…
Characterizing the Robustness of Black-Box LLM Planners Under Perturbed Observations with Adaptive Stress Testing
Neeloy Chakraborty, John Pohovey, Melkior Ornik +1
Large language models (LLMs) have recently demonstrated success in decision-making tasks including planning, control, and prediction, but their tendency to hallucinate unsafe and u…
Multi-Modal Manipulation via Multi-Modal Policy Consensus
Haonan Chen, Jiaming Xu, Hongyu Chen +7
Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalit…
HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environments
Shuijing Liu, Haochen Xia, Fatemeh Cheraghi Pouria +5
We study the problem of robot navigation in dense and interactive crowds with static constraints such as corridors and furniture. Previous methods fail to consider all types of spa…