7 accepted papers
We introduce CRAFT Hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the hand. Impacts concentrate at joints, while links carry most of the load. CRAFT places soft material at…
This work introduces Robots Imitating Generated Videos (RIGVid), a system that enables robots to perform complex manipulation tasks—such as pouring, wiping, and mixing—purely by imitating AI-generated videos, without requiring any physical demonstrations or robot-specific training. Given a language…
Task specification for robotic manipulation in open-world environments is challenging, requiring flexible and adaptive objectives that align with human intentions and can evolve through iterative feedback. We introduce Iterative Keypoint Reward (IKER), a visually grounded, Python-based reward functi
Communication between embodied AI agents has received increasing attention in recent years. Despite its use, it is still unclear whether the learned communication is interpretable and grounded in perception. To study the grounding of emergent forms of communication, we first introduce the collaborat…
In the Vision-and-Language Navigation (VLN) task an embodied agent navigates a 3D environment, following natural language instructions. A challenge in this task is how to handle ‘off the path’ scenarios where an agent veers from a reference path. Prior work supervises the agent with actions based on…
Navigation tasks in photorealistic 3D environments are challenging because they require perception and effective planning under partial observability. Recent work shows that map-like memory is useful for long-horizon navigation tasks. However, a focused investigation of the impact of maps on navigat…
Understanding and explaining deep learning models is an imperative task. Towards this, we propose a method that obtains gradient-based certainty estimates that also provide visual attention maps. Particularly, we solve for visual question answering task. We incorporate modern probabilistic deep lear…