5 papers
ExecuTorch -- A Unified PyTorch Solution to Run AI Models On-Device
Mergen Nachin, Digant Desai, Sicheng Stephen Jia +36
Local execution of AI on edge devices is important for low latency and offline operation. However, deploying models on diverse hardware remains fragmented, often requiring model co…
YOR: Your Own Mobile Manipulator for Generalizable Robotics
Manan H Anjaria, Mehmet Enes Erciyes, Vedant Ghatnekar +11
Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the com…
Contact-Anchored Policies: Contact Conditioning Creates Strong Robot Utility Models
Zichen Jeff Cui, Omar Rayyan, Haritheja Etukuru +16
The prevalent paradigm in robot learning attempts to generalize across environments, embodiments, and tasks with language prompts at runtime. A fundamental tension limits this appr…
DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulation
Peiqi Liu, Zhanqiu Guo, Mohit Warke +4
Significant progress has been made in open-vocabulary mobile manipulation, where the goal is for a robot to perform tasks in any environment given a natural language description. H…
The Llama 3 Herd of Models
Aaron Grattafiori, Abhimanyu Dubey, Abhinav Jauhri +556
Modern artificial intelligence (AI) systems are powered by foundation models. This paper presents a new set of foundation models, called Llama 3. It is a herd of language models th…