Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding
Paper • 2501.04693 • Published • 4
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The FuSe dataset contains 26,866 trajectories collected on a WidowX robot at the RAIL lab @ UC Berkeley, USA. It contains visual, tactile, sound and action data collected across several environments, annotated with natural language.
Paper: https://huggingface.co/papers/2501.04693 Code: https://github.com/oier-mees/FuSe
If you use the dataset please cite:
@inproceedings{jones25fuse,
title={Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding},
author={Joshua Jones and Oier Mees and Carmelo Sferrazza and Kyle Stachowicz and Pieter Abbeel and Sergey Levine},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year={2025},
address = {Atlanta, USA}
}
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