A closed-loop multi-agent LLM framework enables heterogeneous robots to collaboratively manipulate objects by decomposing tasks, grounding actions via visual tools, and recovering from execution failures hierarchically.
Pyroki: A modular toolkit for robot kinematic optimization
9 Pith papers cite this work. Polarity classification is still indexing.
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abstract
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present PyRoki: a modular, extensible, and cross-platform toolkit for solving kinematic optimization problems. PyRoki couples an interface for specifying kinematic variables and costs with an efficient nonlinear least squares optimizer. Unlike existing tools, it is also cross-platform: optimization runs natively on CPU, GPU, and TPU. In this paper, we present (i) the design and implementation of PyRoki, (ii) motion retargeting and planning case studies that highlight the advantages of PyRoki's modularity, and (iii) optimization benchmarking, where PyRoki can be 1.4-1.7x faster and converges to lower errors than cuRobo, an existing GPU-accelerated inverse kinematics library.
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SPARK reaches 43.7% success on six LIBERO-PRO cells by LLM-generated typed behavior trees plus multi-prompt perception and recovery, more than doubling CaP-Agent0 and VLA baselines.
DO AS I DO reconstructs and retargets hand-object interactions from in-the-wild monocular RGB videos to produce dexterous robot manipulation trajectories, outperforming prior methods on ground-truth and online video datasets.
MotionBricks is a real-time generative motion framework that achieves state-of-the-art quality at 15,000 FPS using a single model on 350,000 clips and smart primitives for intuitive control.
RoSHI is a hybrid wearable that combines sparse IMUs and egocentric SLAM to capture accurate full-body 3D pose and shape data in natural environments for robot learning.
frax is a new open-source JAX library delivering low-microsecond CPU dynamics and over 100 million GPU evaluations per second for robot kinematics and dynamics with autodiff support.
cuRoboV2 unifies B-spline optimization, GPU-native dense signed distance fields, and scalable whole-body kinematics and dynamics to achieve 99.7% success on payloaded manipulators and 99.6% collision-free IK on 48-DoF humanoids.
ConstrainedMimic integrates operational space control and control barrier functions into RL tracking policies to enforce arbitrary runtime constraints on humanoid kinematics and dynamics while preserving contact modes and tracking goals.
citing papers explorer
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A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation
A closed-loop multi-agent LLM framework enables heterogeneous robots to collaboratively manipulate objects by decomposing tasks, grounding actions via visual tools, and recovering from execution failures hierarchically.
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Sequential Planning via Anchored Robotic Keypoints
SPARK reaches 43.7% success on six LIBERO-PRO cells by LLM-generated typed behavior trees plus multi-prompt perception and recovery, more than doubling CaP-Agent0 and VLA baselines.
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Do as I Do: Dexterous Manipulation Data from Everyday Human Videos
DO AS I DO reconstructs and retargets hand-object interactions from in-the-wild monocular RGB videos to produce dexterous robot manipulation trajectories, outperforming prior methods on ground-truth and online video datasets.
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MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitives
MotionBricks is a real-time generative motion framework that achieves state-of-the-art quality at 15,000 FPS using a single model on 350,000 clips and smart primitives for intuitive control.
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RoSHI: A Versatile Robot-oriented Suit for Human Data In-the-Wild
RoSHI is a hybrid wearable that combines sparse IMUs and egocentric SLAM to capture accurate full-body 3D pose and shape data in natural environments for robot learning.
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frax: Fast Robot Kinematics and Dynamics in JAX
frax is a new open-source JAX library delivering low-microsecond CPU dynamics and over 100 million GPU evaluations per second for robot kinematics and dynamics with autodiff support.
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cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
cuRoboV2 unifies B-spline optimization, GPU-native dense signed distance fields, and scalable whole-body kinematics and dynamics to achieve 99.7% success on payloaded manipulators and 99.6% collision-free IK on 48-DoF humanoids.
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Constrained Whole-Body Tracking for Humanoid Robots
ConstrainedMimic integrates operational space control and control barrier functions into RL tracking policies to enforce arbitrary runtime constraints on humanoid kinematics and dynamics while preserving contact modes and tracking goals.
- SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control