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cs.RO2024
PARTNR: A Benchmark for Planning and Reasoning in Embodied Multi-agent Tasks
Matthew Chang, Gunjan Chhablani, Alexander Clegg +17
We present a benchmark for Planning And Reasoning Tasks in humaN-Robot collaboration (PARTNR) designed to study human-robot coordination in household activities. PARTNR tasks exhib…
cs.RO2024
Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulation
Homanga Bharadhwaj, Roozbeh Mottaghi, Abhinav Gupta +1
We seek to learn a generalizable goal-conditioned policy that enables zero-shot robot manipulation: interacting with unseen objects in novel scenes without test-time adaptation. Wh…
cs.RO2024
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…