5 papers
Constraints-of-Thought: A Framework for Constrained Reasoning in Language-Model-Guided Search
Kamel Alrashedy, Vriksha Srihari, Zulfiqar Zaidi +3
While researchers have made significant progress in enabling large language models (LLMs) to perform multi-step planning, LLMs struggle to ensure that those plans align with high-l…
Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis
David Nguyen, Zulfiqar Zaidi, Kevin Karol +2
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robo…
Learning Wheelchair Tennis Navigation from Broadcast Videos with Domain Knowledge Transfer and Diffusion Motion Planning
Zixuan Wu, Zulfiqar Zaidi, Adithya Patil +2
In this paper, we propose a novel and generalizable zero-shot knowledge transfer framework that distills expert sports navigation strategies from web videos into robotic systems wi…
Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance
Kin Man Lee, Sean Ye, Qingyu Xiao +5
Advances in robot learning have enabled robots to generate skills for a variety of tasks. Yet, robot learning is typically sample inefficient, struggles to learn from data sources…
Generating CAD Code with Vision-Language Models for 3D Designs
Kamel Alrashedy, Pradyumna Tambwekar, Zulfiqar Zaidi +3
Generative AI has transformed the fields of Design and Manufacturing by providing efficient and automated methods for generating and modifying 3D objects. One approach involves usi…