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IROS 20252025We present and tackle the problem of Embodied Question Answering (EQA) with Situational Queries (S-EQA) in a household environment. Unlike prior EQA work tackling simple queries that directly reference target objects and properties ('What is the color of the car?'), situational queries (such as 'Is the house ready for sleeptime?') are challenging as they require the agent to correctly identify multiple
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RSS 20252025This work demonstrates how autonomously learning aspects of robotic operation from sparsely-labeled, real-world data of deployed, engineered solutions at industrial scale can provide with solutions that achieve improved performance. Specifically, it focuses on multi-suction robot picking and performs a comprehensive study on the application of multi-modal visual encoders for predicting the success of candidate
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2025Diffusion Policies are effective at learning closed-loop manipulation policies from human demonstrations but generalize poorly to novel arrangements of objects in 3D space, hurting real-world performance. To address this issue, we propose Spherical Diffusion Policy (SDP), an SE(3) equivariant diffusion policy that adapts trajectories according to 3D transformations of the scene. Such equivariance is achieved
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2025This paper presents an integrated robotic system designed for autonomous picking of targeted objects from cluttered and deformable shelves—a critical task in Amazon warehouse operations for processing customer orders. The system addresses common challenges in robotic picking including diverse object handling, densely packed storage, and dynamic inventories. However, shelf-picking introduces additional complexities
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2025This paper presents a compliant manipulation system capable of placing items onto densely packed shelves. The wide diversity of items and strict business requirements for high producing rates and low defect generation have prohibited warehouse robotics from performing this task. Our innovations in hardware, perception, decision-making, motion planning, and control have enabled this system to perform over
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