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cs.RO2025
PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies
Jesse Zhang, Marius Memmel, Kevin Kim +6
Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-lev…
cs.RO2025
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation
Yi Li, Yuquan Deng, Jesse Zhang +9
Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robo…
cs.RO2024
Aim My Robot: Precision Local Navigation to Any Object
Xiangyun Meng, Xuning Yang, Sanghun Jung +4
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot ne…