Related papers: DSPv2: Improved Dense Policy for Effective and Gen…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…

Deep reinforcement learning could be used to learn dexterous robotic policies but it is challenging to transfer them to new robots with vastly different hardware properties. It is also prohibitively expensive to learn a new policy from…

The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simulators offer cost-effective alternatives, but the gap between…

Robot manipulation in unstructured environments requires efficient and reliable Swept Volume Collision Detection (SVCD) for safe motion planning. Traditional discrete methods potentially miss collisions between these points, whereas SVCD…

Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoint-invariant execution. We propose SaPaVe, an end-to-end…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…

In this paper, we claim that spatial understanding is the keypoint in robot manipulation, and propose SpatialVLA to explore effective spatial representations for the robot foundation model. Specifically, we introduce Ego3D Position Encoding…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

Spatial understanding is a critical aspect of most robotic tasks, particularly when generalization is important. Despite the impressive results of deep generative models in complex manipulation tasks, the absence of a representation that…

Generalist robot manipulation policies (GMPs) have the potential to generalize across a wide range of tasks, devices, and environments. However, existing policies continue to struggle with out-of-distribution scenarios due to the inherent…

The generalization ability of visuomotor policy is crucial, as a good policy should be deployable across diverse scenarios. Some methods can collect large amounts of trajectory augmentation data to train more generalizable imitation…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

Statistical shape modeling (SSM) is an enabling quantitative tool to study anatomical shapes in various medical applications. However, directly using 3D images in these applications still has a long way to go. Recent deep learning methods…

Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy evaluation. In this paper, we propose…

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…

Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although…

3D policy learning promises superior generalization and cross-embodiment transfer, but progress has been hindered by training instabilities and severe overfitting, precluding the adoption of powerful 3D perception models. In this work, we…

Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…

Many everyday mobile manipulation tasks require precise interaction with small objects, such as grasping a knob to open a cabinet or pressing a light switch. In this paper, we develop Servoing with Vision Models (SVM), a closed-loop…