6 papers indexed
Zikui Cai, Kaushal Janga, Tan Dat Dao, Seungjae Lee, Shivin Dass, Mingyo Seo, et al.
Embodied question answering (EQA) is traditionally evaluated under an episodic formulation, where agents solve each task independently and reset internal state between episodes. However, real-world robots operate continuously and must accumulate, retain, and selectively reuse inf…
Yunfan Jiang, Yevgen Chebotar, Ruijie Zheng, Fengyuan Hu, Yunhao Ge, Jimmy Wu, et al.
Recent robot foundation models operate with single-step or short-history visuomotor context. We introduce Test-Time-Training Robot Policies (RoboTTT), a robot model and training recipe that scale visuomotor context to 8K timesteps, three orders of magnitude beyond state-of-the-ar…
Xiaoshen Han, Haoyu Xiong, Haonan Chen, Chaoqi Liu, Antonio Torralba, Yuke Zhu, et al.
In this work, we present B-spline Policy (BSP), an action representation designed for accelerating robot manipulation policies. Rather than predicting discrete-time action chunks, BSP parameterizes actions as continuous B-spline curves defined by a set of knots and control points…
Kaiyuan Chen, Shuangyu Xie, Letian Fu, Justin Yu, William Pacini, Sandeep Bajamahal, et al.
For robots to work reliably in commercial and industrial applications, can recent advances in agentic coding systems combine interpretable robot programming with the open-world adaptability of model-free policies? We focus on "Variational Automation" (VA), a class of tasks that h…
Runyu Lu, Yubo Wu, Ethan Kou, Letian Fu, Wenli Xiao, Ajay Mandlekar, et al.
Traditional robot programming is challenging: it requires orchestrating multimodal perception, managing physical contact dynamics, and handling diverse configurations and execution failures. We introduce ASPIRE (Agentic Skill Programming through Iterative Robot Exploration), a co…
Nadun Ranawaka, Josiah Wong, Wei-Lin Pai, Wei-Teng Chu, Tianyuan Dai, Masoud Moghani, et al.
Training and evaluating robot policies in the real world is costly and difficult to scale. We introduce SimFoundry, a modular and automated system for zero-shot real-to-sim scene construction from a video. SimFoundry generates sim-ready digital twins and supports object, scene, a…