14 accepted papers
Training robot policies often requires extracting appropriate subsets of data from large and noisy datasets. For example, one might want to extract only robot demonstrations with accurate captions or only those related to cooking. We present RoboSQ, a robot data management system that enables semant…
Suturing is a high-precision task performed at the end of procedures when surgeon fatigue may increase errors, highlighting the need for robot assistance. Previous autonomous suturing works, such as STITCH 1.0 [1], struggle to fully close wounds due to inaccurate needle tracking, thread tangling, an…
Humans do not passively observe the visual world---we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that emerges from the need to complete real-world tasks. We develop a mechanical eyeball that can freely rotate to observe its…
Tracking and manipulating irregularly-shaped, previously unseen objects in dynamic environments is important for robotic applications in manufacturing, assembly, and logistics. Recently introduced Gaussian Splats [1] efficiently model object geometry, but lack persistent state estimation for taskori
Recent results suggest that very large datasets of teleoperated robot demonstrations can be used to train transformer-based models that have the potential to generalize to new scenes, robots, and tasks. However, curating, distributing, and loading large datasets of robot trajectories, which typicall
Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle to fully close wounds due to inaccurate needle tracking and
Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and robot calibration errors present unique challenges for surgical robot learning. We provide an enhanced surgical digital t
Knot tying is a fundamental dexterous surgical subtask that is a key step in suturing. One challenge to robot augmentation is limited depth perception due to the small baseline of surgical endoscopic cameras. In this work, we present Surgical D-Knot: an augmented dexterity pipeline combining learned
Cloud service providers provide over 50,000 distinct and dynamically changing set of cloud server options. To help roboticists make cost-effective decisions, we present FogROS2-Config, an open toolkit that takes ROS2 nodes as input and automatically runs relevant benchmarks to quickly return a menu…
Cloud robotics enables robots to offload complex computational tasks to cloud servers for performance and ease of management. However, cloud compute can be costly, cloud services can suffer occasional downtime, and connectivity between the robot and cloud can be prone to variations in network Qualit…
Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS): a detailed 3D scene representation that encodes both appearance and semantics in a u
Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly optimize a dense language and geometric representation of it…
The ability to reuse collected data and transfer trained policies between robots could alleviate the burden of additional data collection and training. While existing approaches such as pretraining plus finetuning and co-training show promise, they do not generalize to robots unseen in training. Foc…
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present Orbit-Surgical, a physics-based surgical robot simulation framework with p…