KinDER is a new open-source benchmark that demonstrates substantial gaps in current robot learning and planning methods for handling physical constraints.
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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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KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning
KinDER is a new open-source benchmark that demonstrates substantial gaps in current robot learning and planning methods for handling physical constraints.
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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.