Research
Research
Research
Research
194+ open-access research outputs.
In the context of robot learning for manipulation, curated datasets are an important resource for advancing the state of the art; however, available datasets typically only include successful executio…
Flow Matching (FM) policies have emerged as an efficient backbone for robotic control, offering fast and expressive action generation that underpins recent large-scale embodied AI systems. However, FM…
The proverb ``see something, say something'' captures a core responsibility of autonomous mobile robots in safety-critical situations: when they detect a hazard, they must communicate--and do so quick…
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A human provided high-…
Object co-occurrences provide a key cue for finding objects successfully and efficiently in unfamiliar environments. Typically, one looks for cups in kitchens and views fridges as evidence of being in…
A significant challenge in service robots is the semantic understanding of their surrounding areas. Traditional approaches addressed this problem by segmenting the floor plan into regions correspondin…
Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this v…
Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory m…
Autonomous agents that perform everyday manipulation actions need to ensure that their body motions are semantically correct with respect to a task request, causally effective within their environment…
Hierarchical Imitation Learning is a powerful paradigm for acquiring complex robot behaviors from demonstrations. A central challenge, however, lies in discovering reusable skills from long-horizon, m…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of …
Whole-slide multiplex imaging of brain tissue generates massive information-dense images that are challenging to analyze and require custom software. We present an alternative query-driven programming…
Virtual acoustic environments enable the creation and simulation of realistic and eco-logically valid daily-life situations vital for hearing research and audiology. Reverberant indoor environments ar…
Interactive articulated manipulation requires long-horizon, multi-step interactions with appliances while maintaining physical consistency. Existing vision-language and diffusion-based policies strugg…
Multi-robot systems in complex physical collaborations face a "shared brain dilemma": transmitting high-dimensional multimedia data (e.g., video streams at ~30MB/s) creates severe bandwidth bottleneck…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or loc…
ALOHA2 is an enhanced version of the dual-arm teleoperated robot ALOHA, featuring higher performance and robustness compared to the original design, while also being more ergonomic. Like ALOHA, ALOHA2…
Large language models (LLMs) demonstrate advanced reasoning abilities, enabling robots to understand natural language instructions and generate high-level plans with appropriate grounding. However, LL…
Learning manipulation skills from human demonstration videos presents a promising yet challenging problem, primarily due to the significant embodiment gap between human body and robot manipulators. Ex…
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