6 accepted papers
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic Embodied Reasoning that targets physical reasoning challenges…
Reasoning and linguistic skills form the cornerstone of human intelligence, facilitating problem-solving and decision-making. Recent advances in Large Language Models (LLMs) have led to impressive linguistic capabilities and emergent reasoning behaviors, fueling widespread adoption across applicatio…
Imitation learning from large multi-task demonstration datasets has emerged as a promising path for building generally-capable robots. As a result, 1000s of hours have been spent on building such large-scale datasets around the globe. Despite the continuous growth of such efforts, we still lack a sy…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to provide the demonstration, human users often rely on visual feedb…
6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a discriminative setup where the model filters useful information…
Deep learning has enabled algorithms to generate realistic images. However, accurately predicting long video sequences requires understanding long-term dependencies and remains an open challenge. While existing video prediction models succeed at generating sharp images, they tend to fail at accurate…