4 papers
A Few Words Go a Long Way: Language Guided Robot Policy Synthesis
Daphne Chen, Archit Ritesh Jain, Eric Goossen +4
While vision-language-action models have demonstrated impressive zero-shot manipulation capabilities, they remain fundamentally black box policies that are difficult to interpret,…
FlowDAgger: Human-in-the-Loop Adaptation of Generative Robot Policies in Latent Space
Michael Murray, Daphne Chen, Simran Bagaria +7
Pretrained generative robot policies based on flow matching and diffusion have achieved impressive results across a wide range of manipulation tasks. Yet real-world deployments rou…
Can Large Language Models Help Developers with Robotic Finite State Machine Modification?
Xiangyu Robin Gan, Yuxin Ray Song, Nick Walker +1
Finite state machines (FSMs) are widely used to manage robot behavior logic, particularly in real-world applications that require a high degree of reliability and structure. Howeve…
Fast Explicit-Input Assistance for Teleoperation in Clutter
Nick Walker, Xuning Yang, Animesh Garg +3
The performance of prediction-based assistance for robot teleoperation degrades in unseen or goal-rich environments due to incorrect or quickly-changing intent inferences. Poor pre…