19 papers
Advances, challenges, and opportunities for legged robots
Jonas Frey, MatÃas Mattamala, Hae-Won Park +5
Humanoid and quadrupedal robots have the potential to revolutionize the way we work, interact, and coexist with intelligent machines. To understand their effects on society and how…
EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal
Alex Brandes, Haig Conti Georges Sajelian, Manthan Patel +11
The paper introduces EgoHTR, a dataset of egocentric 4D human motion captured in complex, unstructured terrain using wearable sensors and a portable 3D scanner, and demonstrates it…
GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation
Turcan Tuna, Jonas Frey, Frank Fu +5
Accurate state estimation and multi-modal perception are prerequisites for autonomous legged robots in complex, large-scale environments. To date, no large-scale public legged-robo…
FARM: Find Anything using Relational Spatial Memory
Siming He, Leo Huang, Adam Lilja +7
Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find specific object instances on demand. Object-level memory alone is often…
Self-Supervised Bootstrapping of Action-Predictive Embodied Reasoning
Milan Ganai, Katie Luo, Jonas Frey +2
Embodied Chain-of-Thought (CoT) reasoning has significantly enhanced Vision-Language-Action (VLA) models, yet current methods rely on rigid templates to specify reasoning primitive…
DigiForest: Digital Analytics and Robotics for Sustainable Forestry
Marco Camurri, Enrico Tomelleri, MatÃas Mattamala +18
Covering one third of Earth's land surface, forests are vital to global biodiversity, climate regulation, and human well-being. In Europe, forests and woodlands reach approximately…