4 papers · 1 filter
Robotic Assistant: Completing Collaborative Tasks with Dexterous Vision-Language-Action Models
Boshi An, Chenyu Yang, Robert Katzschmann
We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditionin…
Arnold: A multi-task, multi-embodiment muscle transformer policy
Alberto Silvio Chiappa, Boshi An, Merkourios Simos +2
Controlling high-dimensional and nonlinear musculoskeletal models of the human body is a foundational scientific challenge. Recent machine learning breakthroughs have heralded in-s…
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
Haoran Geng, Feishi Wang, Songlin Wei +34
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges i…
RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimation
Boshi An, Yiran Geng, Kai Chen +3
Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this con…