Tootfinder

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu, Aditya Bhat, Rick Cory, Eric Cousineau, Hongkai Dai, Ching-Hsin Fang, Kunimatsu Hashimoto, Muhammad Zubair Irshad, Masha Itkina, Naveen Kuppuswamy, Kuan-Hui Lee, Katherine Liu, Dale McConachie, Ian McMahon, Haruki Nishimura, Calder Phillips-Grafflin, Charles Richter, Paarth Shah, Krishnan Srinivasan, Blake Wulfe, Chen Xu, Mengchao Zhang, Alex Alspach, Maya …

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of capable language and vision foundation models, motivating large-scale efforts to create general-purpose robot foundation models. While these models have garnered significant enthusiasm and investment, meaningful evaluation of real-world performance remains a …

Cross-Dataset Semantic Segmentation Performance Analysis: Unifying NIST Point Cloud City Datasets for 3D Deep Learning
Alexander Nikitas Dimopoulos, Joseph Grasso
https://arxiv.org/abs/2508.00822

Cross-Dataset Semantic Segmentation Performance Analysis: Unifying NIST Point Cloud City Datasets for 3D Deep Learning
This study analyzes semantic segmentation performance across heterogeneously labeled point-cloud datasets relevant to public safety applications, including pre-incident planning systems derived from lidar scans. Using NIST's Point Cloud City dataset (Enfield and Memphis collections), we investigate challenges in unifying differently labeled 3D data. Our methodology employs a graded schema with the KPConv architecture, evaluating performance through IoU metrics on safety-relevant features. Resul…

Isolating Noisy Labelled Test Cases in Human-in-the-Loop Oracle Learning
Charaka Geethal Kapugama
https://arxiv.org/abs/2506.13273 https://

Isolating Noisy Labelled Test Cases in Human-in-the-Loop Oracle Learning
Incorrectly labelled test cases can adversely affect the training process of human-in-the-loop oracle learning tech-niques. This paper introduces ISONOISE, a technique designed to identify such mislabelled test cases introduced during human-in-the-loop oracle learning. This technique can be applied to programs taking numeric inputs. Given a compromised automatic test oracle and its training test suite, ISONOISE first isolates thetest cases suspected of being mislabelled. This task is performed …