8 accepted papers
Learning from human demonstrations has enabled robots to acquire a wide range of manipulation skills, but learned policies typically execute far slower than ordinary humans. This speed gap is mainly due to lack of an interface for collecting demonstration data at high speed, and the difficulty in tr…
Recent video generation models demonstrate remarkable ability to capture complex physical interactions and scene evolution over time. To leverage their spatiotemporal priors, robotics works have adapted video models for policy learning but introduce complexity by requiring multiple stages of post-tr…
A unified video and action model holds significant promise for robotics, where videos provide rich scene information for action prediction, and actions demonstrate how interactions influence visual observations. However, effectively combining video generation and action prediction remains challengin…
We investigate uncertainty quantification of 6D pose estimation from learned noisy measurements (e.g., keypoints and pose hypotheses). Assuming unknown-but-bounded measurement noises, a pose uncertainty set (PURSE) is a subset of SE(3) that contains all possible 6D poses compatible with the measurem…
Insight gradually becomes a crucial form of long-term memory for an agent. However, the emergence of irrelevant insight and the lack of general insight can greatly undermine the effectiveness of insight. To solve this problem, in this paper, we introduce **M**ulti-**S**cale **I**nsight Agent (MSI-Ag…
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and flexible mobile manipulator that can support arbitrary arms,…
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a handheld gripper (UMI), providing a cheap way to demonstrate task-relevant manipulation skills without a robot.…
We propose HermEs, the first approach for spreadsheet formula prediction via HiEraRchical forMulet ExpanSion, where hierarchical expansion means generating formulas following the underlying parse tree structure, and Formulet refers to commonly-used multi-level patterns mined from real formula parse…