相关论文: ORLA*: Mobile Manipulator-Based Object Rearrangeme…

We present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system, including construction, robotic navigation, long-term…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Low-Rank Adaptation (LoRA) is a widely used finetuning method for large models. Its small memory footprint allows practitioners to adapt large models to specific tasks at a fraction of the cost of full finetuning. Different modifications…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some `movable'…

Matrix-based optimizers have demonstrated immense potential in training Large Language Models (LLMs), however, designing an ideal optimizer remains a formidable challenge. A superior optimizer must satisfy three core desiderata: efficiency,…

Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…

For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…

Optimizing the consolidation process in container-based fulfillment centers requires trading off competing objectives such as processing speed, resource usage, and space utilization while adhering to a range of real-world operational…

Frontier AI models and multi-agent systems have led to significant improvements in mathematical reasoning. However, for problems requiring extended, long-horizon reasoning, existing systems continue to suffer from fundamental reliability…

Effectively integrating molecular graph structures with Large Language Models (LLMs) is a key challenge in drug discovery. Most existing multi-modal alignment methods typically process these structures by fine-tuning the LLM or adding a…

This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…

Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic scenarios requiring rapid perception, temporal anticipation,…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

The advent of large language models (LLMs) has revolutionized natural language processing, enabling unprecedented capabilities in understanding and generating human-like text. However, the computational cost and convergence times associated…

Augmented-reality (AR) glasses that will have access to onboard sensors and an ability to display relevant information to the user present an opportunity to provide user assistance in quotidian tasks. Many such tasks can be characterized as…

We present a distributed proactive caching approach that exploits user mobility information to decide where to proactively cache data to support seamless mobility, while efficiently utilizing cache storage using a congestion pricing scheme.…