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Diverse Motion Planning with Stein Diffusion Trajectory Inference

Zeya Yin, Tin Lai, Lucas Barcelos, Jayadeep Jacob, Yonghui Li, Fabio Ramos

Ergodic Trajectory Optimization on Generalized Domains using Maximum Mean Discrepancy

Christian Hughes, Houston Warren, Darrick Lee, Fabio Ramos, Ian Abraham

Guiding Long-Horizon Task and Motion Planning with Vision Language Models

Zhutian Yang, Caelan Garrett, Tomás Lozano-Pérez, Leslie Kaelbling, Dieter Fox

Inference-Time Policy Steering through Human Interactions

Yanwei Wang, Lirui Wang, Yilun Du, Balakumar Sundaralingam, Xuning Yang, Yu-Wei Chao, Claudia Pérez D’Arpino, Dieter Fox, Julie Shah

MatchMaker: Automated Robotic Assembly Asset Generation for Policy Learning in Simulation

Yian Wang, Iretiayo Akinola, Kaichun Mo, Bingjie Tang, Chuang Gan, Dieter Fox, Yashraj Narang

Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics

Yixuan Huang, Christopher Agia, Jimmy Wu, Tucker Hermans, Jeannette Bohg

SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation

Cheng-Chun Hsu, Bowen Wen, Jie Xu, Yashraj Narang, Xiaolong Wang, Yuke Zhu, Joydeep Biswas, Stan Birchfield

TWIN: Two-handed Intelligent Benchmark for Bimanual Manipulation

Markus Grotz, Mohit Shridhar, Yu-Wei Chao, Tamim Asfour, Dieter Fox

AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation

Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo

EgoSim: Egocentric Exploration in Virtual Worlds with Multi-modal Conditioning

Wei Yu, Songheng Yin, Steve Easterbrook, Animesh Garg