4 accepted papers
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to open-vocabulary instructions in everyday scenarios remains challeng…
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to open-vocabulary instructions in everyday scenarios remains challeng
We present OpenRoboCare, a multimodal dataset for robot caregiving, capturing expert occupational therapist demonstrations of Activities of Daily Living (ADLs). Caregiving tasks involve complex physical human-robot interactions, requiring precise perception under occlusions, safe physical contact, a
Abstract—This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranking and Criteria Evaluation (GRaCE), which employs hierarchical rule-based logic and a rank-preserving utility f…