4 papers
Large-Language-Model-Guided State Estimation for Partially Observable Task and Motion Planning
Yoonwoo Kim, Raghav Arora, Roberto MartÃn-MartÃn +3
Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partia…
CAVER: Curious Audiovisual Exploring Robot
Luca Macesanu, Boueny Folefack, Samik Singh +3
Multimodal audiovisual perception can enable new avenues for robotic manipulation, from better material classification to the imitation of demonstrations for which only audio signa…
SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile Manipulation
Arpit Bahety, Arnav Balaji, Ben Abbatematteo +1
For robots to become efficient helpers in the home, they must learn to perform new mobile manipulation tasks simply by watching humans perform them. Learning from a single video de…
Learning to Look: Seeking Information for Decision Making via Policy Factorization
Shivin Dass, Jiaheng Hu, Ben Abbatematteo +2
Many robot manipulation tasks require active or interactive exploration behavior in order to be performed successfully. Such tasks are ubiquitous in embodied domains, where agents…