3 papers
cs.RO2026
LENS: LLM-guided Environment Simplification for Planning and Control in Clutter
Aileen Liao, Rachel Holladay, Dinesh Jayaraman +1
Despite recent advances in general-purpose robotic manipulation, real-world multi-object clutter remains challenging to handle for today's prevalent approaches. The problem scales…
cs.RO2026
Delay-Aware Diffusion Policy: Bridging the Observation-Execution Gap in Dynamic Tasks
Aileen Liao, Dong-Ki Kim, Max Olan Smith +2
As a robot senses and selects actions, the world keeps changing. This inference delay creates a gap of tens to hundreds of milliseconds between the observed state and the state at…
cs.RO2025
StageACT: Stage-Conditioned Imitation for Robust Humanoid Door Opening
Moonyoung Lee, Dong Ki Kim, Jai Krishna Bandi +4
Humanoid robots promise to operate in everyday human environments without requiring modifications to the surroundings. Among the many skills needed, opening doors is essential, as…