5 papers · 1 filter
GRIM: Task-Oriented Grasping with Conditioning on Generative Examples
Shailesh, Alok Raj, Nayan Kumar +4
Task-Oriented Grasping (TOG) requires robots to select grasps that are functionally appropriate for a specified task - a challenge that demands an understanding of task semantics,…
SplatR : Experience Goal Visual Rearrangement with 3D Gaussian Splatting and Dense Feature Matching
Arjun P S, Andrew Melnik, Gora Chand Nandi
Experience Goal Visual Rearrangement task stands as a foundational challenge within Embodied AI, requiring an agent to construct a robust world model that accurately captures the g…
Cognitive Planning for Object Goal Navigation using Generative AI Models
Arjun P S, Andrew Melnik, Gora Chand Nandi
Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive plann…
Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge
Sriram Yenamandra, Arun Ramachandran, Mukul Khanna +42
In order to develop robots that can effectively serve as versatile and capable home assistants, it is crucial for them to reliably perceive and interact with a wide variety of obje…
Natural Language as Policies: Reasoning for Coordinate-Level Embodied Control with LLMs
Yusuke Mikami, Andrew Melnik, Jun Miura +1
We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code ge…