Abby O’Neill — accepted AI-conference papers

2024

MANIP: A Modular Architecture for Integrating Interactive Perception for Robot Manipulation

Justin Yu, Tara Sadjadpour, Abby O’Neill, Mehdi Khfifi, Lawrence Yunliang Chen, Richard Cheng +4

IROS 2024poster

We propose a modular systems architecture, MANIP, that can facilitate the design and development of robot manipulation systems by systematically combining learned subpolicies with well-established procedural algorithmic primitives such as Inverse Kinematics, Kalman Filters, RANSAC outlier rejection,…

Cited by 1 Source ↗code ↗Scholar ↗

2024

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration0

Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee +273

ICRA 2024poster

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for man…

Cited by 259 Source ↗code ↗Scholar ↗