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GlowTact, a pressure-responsive vision-based tactile sensing mechanism that directly visualizes contact pressure, is introduced, combining a durable nitrile membrane and simple optical design with sensitive and information-rich tactile perception.
This work proposes Multi-Agent Flow-Pretrained Policy Optimization (MA-FPPO), which uses online fine-tuning to improve the cooperative behavior of models pretrained with flow matching through new interactions with the environment.
ARGUS is presented, an observation pre-processing pipeline that uses large-scale 3D vision models to align image observations from arbitrary camera viewpoints into a canonical viewpoint before passing it to downstream visuomotor policies, enabling more efficient learning from large-scale, viewpoint-diverse robot datase...
Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction conditions. End-to-end Vision-Language-Action policies have improved cross-task generalization, but they typically map visual and language inp...
Predictive world models enable robots to plan by imagining the outcomes of their actions, but their value for control hinges on generating many rollouts quickly. This creates a bottleneck for diffusion-based world models: multistep sampling makes each rollout expensive, limiting large-scale action search at inference t...
Masked Visual Actions is introduced, a pixel-space control interface that expresses action as a partially revealed trajectory of an arbitrary entity in a video that supports inverse modeling by synthesizing robot motion from desired object motion.
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