19 citations · 27 across the 12 of their papers we have counts for
13 papers · 1 filter
Preference-Based Long-Horizon Robotic Stacking with Multimodal Large Language Models
Wanming Yu, Adrian Röfer, Abhinav Valada +1
Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they h…
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings
Andreas Sochopoulos, Nikolay Malkin, Nikolaos Tsagkas +3
Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. Ho…
Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Manipulation without grasping, known as non-prehensile manipulation, is essential for dexterous robots in contact-rich environments, but presents many challenges relating with unde…
An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation
Wenqian Du, Ran Long, João Moura +3
Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requ…
Impact-Aware Bimanual Catching of Large-Momentum Objects
Lei Yan, Theodoros Stouraitis, João Moura +3
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing…
Latent Object Characteristics Recognition with Visual to Haptic-Audio Cross-modal Transfer Learning
Namiko Saito, Joao Moura, Hiroki Uchida +1
Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of reali…