4 citations · 5 across the 4 of their papers we have counts for
8 papers · 1 filter
Cross-Modal Instructions for Robot Motion Generation
William Barron, Xiaoxiang Dong, Matthew Johnson-Roberson +1
Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has ex…
Joint Flow Trajectory Optimization For Feasible Robot Motion Generation from Video Demonstrations
Xiaoxiang Dong, Matthew Johnson-Roberson, Weiming Zhi
Learning from human video demonstrations offers a scalable alternative to teleoperation or kinesthetic teaching, but poses challenges for robot manipulators due to embodiment diffe…
From Single Images to Motion Policies via Video-Generation Environment Representations
Weiming Zhi, Ziyong Ma, Tianyi Zhang +1
Autonomous robots typically need to construct representations of their surroundings and adapt their motions to the geometry of their environment. Here, we tackle the problem of con…
3D Foundation Models Enable Simultaneous Geometry and Pose Estimation of Grasped Objects
Weiming Zhi, Haozhan Tang, Tianyi Zhang +1
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the obje…
Unifying Scene Representation and Hand-Eye Calibration with 3D Foundation Models
Weiming Zhi, Haozhan Tang, Tianyi Zhang +1
Representing the environment is a central challenge in robotics, and is essential for effective decision-making. Traditionally, before capturing images with a manipulator-mounted c…
V-PRISM: Probabilistic Mapping of Unknown Tabletop Scenes
Herbert Wright, Weiming Zhi, Matthew Johnson-Roberson +1
The ability to construct concise scene representations from sensor input is central to the field of robotics. This paper addresses the problem of robustly creating a 3D representat…