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Household tidying is an important application area, yet current benchmarks neither model user preferences nor support mobility, and they generalize poorly, making it hard to comprehensively assess integrated language-to-action capabilities.…
This work introduces Robots Imitating Generated Videos (RIGVid), a system that enables robots to perform complex manipulation tasks--such as pouring, wiping, and mixing--purely by imitating AI-generated videos, without requiring any…
Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that…
We present RoboHive, a comprehensive software platform and ecosystem for research in the field of Robot Learning and Embodied Artificial Intelligence. Our platform encompasses a diverse range of pre-existing and novel environments,…
Implicit surfaces are known for their ability to represent smooth objects of arbitrary topology thanks to hierarchical combinations of primitives using a structure called a blobtree. We present a new tile-based rendering pipeline well…
Robotic hands are an important tool for replacing humans in handling toxic or radioactive materials. However, these are usually highly expensive, and in many cases, once they are contaminated, they cannot be re-used. Some solutions cope…
With the increasing demand for real-time animated 3D content in the entertainment industry and beyond, performance-based animation has garnered interest among both academic and industrial communities. While recent solutions for…
This study presents a vision-guided robotic control system for automated fruit tree pruning applications. Traditional pruning practices are labor-intensive and limit agricultural efficiency and scalability, highlighting the need for…
Robotic assistance for experimental manipulation in the life sciences is expected to enable favorable outcomes, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to individual variability and…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…
Drag-based image editing has recently gained popularity for its interactivity and precision. However, despite the ability of text-to-image models to generate samples within a second, drag editing still lags behind due to the challenge of…
Grasp learning has become an exciting and important topic in robotics. Just a few years ago, the problem of grasping novel objects from unstructured piles of clutter was considered a serious research challenge. Now, it is a capability that…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…
Robotic painting has been a subject of interest among both artists and roboticists since the 1970s. Researchers and interdisciplinary artists have employed various painting techniques and human-robot collaboration models to create visual…
Recent advances in implicit neural representations have made them a popular choice for modeling 3D geometry, achieving impressive results in tasks such as shape representation, reconstruction, and learning priors. However, directly editing…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…