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Deploying robots at scale demands robustness to the long tail of everyday situations. The countless variations in scene layout, object geometry, and task specifications that characterize real environments are vast and underrepresented in…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

Recent advances in large multimodal models have enabled new opportunities in embodied AI, particularly in robotic manipulation. These models have shown strong potential in generalization and reasoning, but achieving reliable and responsible…

Robots excel in performing repetitive and precision-sensitive tasks in controlled environments such as warehouses and factories, but have not been yet extended to embodied AI agents providing assistance in household tasks. Inspired by the…

Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…

For social robots like Astro which interact with and adapt to the daily movements of users within the home, realistic simulation of human activity is needed for feature development and testing. This paper presents a framework for simulating…

While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline…

This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

Mobile device control agents can largely enhance user interactions and productivity by automating daily tasks. However, despite growing interest in developing practical agents, the absence of a commonly adopted benchmark in this area makes…

With increasing global age and disability assistive robots are becoming more necessary, and brain computer interfaces (BCI) are often proposed as a solution to understanding the intent of a disabled person that needs assistance. Most…

Egocentric human videos provide scalable demonstrations for imitation learning, but existing corpora often lack either fine-grained, temporally localized action descriptions or dexterous hand annotations. We introduce OpenEgo, a multimodal…

This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic…

To realize effective large-scale, real-world robotic applications, we must evaluate how well our robot policies adapt to changes in environmental conditions. Unfortunately, a majority of studies evaluate robot performance in environments…

We contribute Bi3, a dataset of social robot navigation among groups of people in a constrained lab space. Compared to prior data collection efforts for social robot navigation, our dataset is unique in that it features: an original…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Cognitive science suggests that the self-representation is critical for learning and problem-solving. However, there is a lack of computational methods that relate this claim to cognitively plausible robots and reinforcement learning. In…

Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise for soft robots, which are amenable to novel manufacturing…

Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…

Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…