Gpt-4v (ision) for robotics: Multimodal task planning from human demonstration
We introduce a pipeline that enhances a general-purpose Vision Language Model, GPT-4V
(ision), by integrating observations of human actions to facilitate robotic manipulation. This …
(ision), by integrating observations of human actions to facilitate robotic manipulation. This …
Inferring goals with gaze during teleoperated manipulation
RM Aronson, N Almutlak… - 2021 IEEE/RSJ …, 2021 - ieeexplore.ieee.org
Assistive robot manipulators help people with upper motor impairments perform tasks by
themselves. However, teleoperating a robot to perform complex tasks is difficult. Shared …
themselves. However, teleoperating a robot to perform complex tasks is difficult. Shared …
Voxposer: Composable 3d value maps for robotic manipulation with language models
Large language models (LLMs) are shown to possess a wealth of actionable knowledge that
can be extracted for robot manipulation in the form of reasoning and planning. Despite the …
can be extracted for robot manipulation in the form of reasoning and planning. Despite the …
Surrogate assisted generation of human-robot interaction scenarios
As human-robot interaction (HRI) systems advance, so does the difficulty of evaluating and
understanding the strengths and limitations of these systems in different environments and …
understanding the strengths and limitations of these systems in different environments and …
Modeling long-horizon tasks as sequential interaction landscapes
Complex object manipulation tasks often span over long sequences of operations. Task
planning over long-time horizons is a challenging and open problem in robotics, and its …
planning over long-time horizons is a challenging and open problem in robotics, and its …
Any-point trajectory modeling for policy learning
Learning from demonstration is a powerful method for teaching robots new skills, and more
demonstration data often improves policy learning. However, the high cost of collecting …
demonstration data often improves policy learning. However, the high cost of collecting …
Structured world models from human videos
We tackle the problem of learning complex, general behaviors directly in the real world. We
propose an approach for robots to efficiently learn manipulation skills using only a handful of …
propose an approach for robots to efficiently learn manipulation skills using only a handful of …
Auto-conditioned recurrent mixture density networks for learning generalizable robot skills
Personal robots assisting humans must perform complex manipulation tasks that are
typically difficult to specify in traditional motion planning pipelines, where multiple objectives …
typically difficult to specify in traditional motion planning pipelines, where multiple objectives …
Telemanipulation via virtual reality interfaces with enhanced environment models
M Wonsick, T Keleștemur, S Alt… - 2021 IEEE/RSJ …, 2021 - ieeexplore.ieee.org
Extreme environments, such as search and rescue missions, defusing bombs, or exploring
extraterrestrial planets, are unsafe environments for humans to be in. Robots enable …
extraterrestrial planets, are unsafe environments for humans to be in. Robots enable …
Squirl: Robust and efficient learning from video demonstration of long-horizon robotic manipulation tasks
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 …
learn complex robotic manipulation tasks. However, RL still requires the robot to collect a …