5 papers · 1 filter
PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation
Wenlong Huang, Yu-Wei Chao, Arsalan Mousavian +4
Humans anticipate, from a glance and a contemplated action of their bodies, how the 3D world will respond, a capability that is equally vital for robotic manipulation. We introduce…
Slot-Level Robotic Placement via Visual Imitation from Single Human Video
Dandan Shan, Kaichun Mo, Wei Yang +4
The majority of modern robot learning methods focus on learning a set of pre-defined tasks with limited or no generalization to new tasks. Extending the robot skillset to novel tas…
3D-MVP: 3D Multiview Pretraining for Robotic Manipulation
Shengyi Qian, Kaichun Mo, Valts Blukis +3
Recent works have shown that visual pretraining on egocentric datasets using masked autoencoders (MAE) can improve generalization for downstream robotics tasks. However, these appr…
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian +3
Running optimization across many parallel seeds leveraging GPU compute have relaxed the need for a good initialization, but this can fail if the problem is highly non-convex as all…
RVT-2: Learning Precise Manipulation from Few Demonstrations
Ankit Goyal, Valts Blukis, Jie Xu +3
In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, su…