70 citations · 269 across the 38 of their papers we have counts for
45 papers
HomeRobot: Open-Vocabulary Mobile Manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav +15
HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulatio…
HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation
Wenxuan Zhou, Bowen Jiang, Fan Yang +2
Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more com…
USA-Net: Unified Semantic and Affordance Representations for Robot Memory
Benjamin Bolte, Austin Wang, Jimmy Yang +3
In order for robots to follow open-ended instructions like "go open the brown cabinet over the sink", they require an understanding of both the scene geometry and the semantics of…
Navigating to Objects Specified by Images
Jacob Krantz, Theophile Gervet, Karmesh Yadav +7
Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration o…
Spatial-Language Attention Policies for Efficient Robot Learning
Priyam Parashar, Vidhi Jain, Xiaohan Zhang +4
Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properti…
Task and Motion Planning with Large Language Models for Object Rearrangement
Yan Ding, Xiaohan Zhang, Chris Paxton +1
Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requir…