ReKep encodes robotic tasks as optimizable Python functions over 3D keypoints that are generated automatically from language and RGB-D input, enabling real-time hierarchical planning on single- and dual-arm platforms without task-specific data.
and Johns, E
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Decompose and Recompose decomposes seen robotic demonstrations into skill-action alignments and recomposes them via visual-semantic retrieval and planning to enable zero-shot cross-task generalization.
J-PARSE modifies the Jacobian via aspect-ratio thresholding and directional projection to enable stable first-order inverse kinematic velocity control through kinematic singularities in serial manipulators.
Wavelet Policy combines world prior memory from background images with wavelet-domain multi-scale action modeling via a single-encoder multiple-decoder architecture to improve long-horizon robotic imitation learning.
citing papers explorer
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ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
ReKep encodes robotic tasks as optimizable Python functions over 3D keypoints that are generated automatically from language and RGB-D input, enabling real-time hierarchical planning on single- and dual-arm platforms without task-specific data.
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Decompose and Recompose: Reasoning New Skills from Existing Abilities for Cross-Task Robotic Manipulation
Decompose and Recompose decomposes seen robotic demonstrations into skill-action alignments and recomposes them via visual-semantic retrieval and planning to enable zero-shot cross-task generalization.
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J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
J-PARSE modifies the Jacobian via aspect-ratio thresholding and directional projection to enable stable first-order inverse kinematic velocity control through kinematic singularities in serial manipulators.
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Wavelet Policy: Imitation Learning in the Scale Domain with World Prior Memory
Wavelet Policy combines world prior memory from background images with wavelet-domain multi-scale action modeling via a single-encoder multiple-decoder architecture to improve long-horizon robotic imitation learning.
- A Hierarchical Spatiotemporal Action Tokenizer for In-Context Imitation Learning in Robotics