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ARCLab

university

https://aeroastro.mit.edu/arclab/

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AI & ML interests

IRL, IL, Robotics, Computer Vision

arclabmit 's collections 11

Datasets and models collected and trained in simulation using BEAVR

arclabmit/xarm7_beavrsim_pickplace_dataset

xArm • Updated Jan 9 • 54 episodes • 29
arclabmit/xarm7_act_beavrsim_pickplace_model

Robotics • 51.7M • Updated Jan 27 • 7
arclabmit/xarm7_diffusion_beavrsim_pickplace_model

Robotics • 0.3B • Updated Jan 27 • 8
arclabmit/xarm7_beavrsim_shellgame_dataset

xArm • Updated Jan 19 • 100 episodes • 35

Research Papers

BEAVR: Bimanual, multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots

Paper • 2508.09606 • Published Aug 13, 2025 • 1
Action Chunking with Transformers for Image-Based Spacecraft Guidance and Control

Paper • 2509.04628 • Published Sep 4, 2025 • 1

BEAVR Bot Evaluation Datasets

arclabmit/eval_lx7r_act_pickup_model

multi_robot • Updated Jul 10, 2025 • 10 episodes • 21
arclabmit/eval_lx7r_diffusion_pickup_model

multi_robot • Updated Jul 14, 2025 • 10 episodes • 65
arclabmit/eval_lx7r_smolvla_pickup_model

multi_robot • Updated Jul 14, 2025 • 10 episodes • 104

BEAVR Bot Datasets

Datasets collected using the BEAVR repo

arclabmit/lx7r_tape_insert_dataset

multi_robot • Updated Jul 10, 2025 • 10 episodes • 47
arclabmit/lx7r_lantern_grasp_dataset

multi_robot • Updated Jul 10, 2025 • 10 episodes • 45
arclabmit/lx7r_stack_blocks_dataset

multi_robot • Updated Jul 10, 2025 • 11 episodes • 87
arclabmit/lx7r_pickup_dataset

multi_robot • Updated Sep 9, 2025 • 50 episodes • 302

Koch Robot Evalulation Datasets

arclabmit/eval_koch_act_cubebin_distractors

Koch • Updated Apr 28, 2025 • 10 episodes • 29
arclabmit/eval_koch_act_cubebin

Koch • Updated Apr 28, 2025 • 10 episodes • 70
arclabmit/eval_koch_act_masked_cubebin_distractors

Viewer • Updated Apr 28, 2025 • 20 • 5
arclabmit/eval_koch_masked_act_cubebin

Viewer • Updated Apr 28, 2025 • 20 • 17

Koch Robot Model Collection

arclabmit/koch_act_cubebin_model

51.7M • Updated Apr 26, 2025 • 3
arclabmit/koch_act_masked_cubebin_model

51.7M • Updated Apr 27, 2025 • 8
arclabmit/koch_act_masked_gearbin

51.7M • Updated Apr 24, 2025 • 2
arclabmit/koch_act_boxbin_model

51.7M • Updated Apr 30, 2025 • 3

Aloha Sim Models

Models trained using the Aloha Gym environment for benchmarking in simulation

lerobot/act_aloha_sim_insertion_human

Robotics • 51.7M • Updated Mar 6, 2025 • 188 • 12
lerobot/act_aloha_sim_transfer_cube_human

Robotics • 51.7M • Updated Mar 6, 2025 • 3.11k • 38

Datasets for spacecraft RPO

arclabmit/spacecraft_issdocking_dataset

spacecraft • Updated Sep 9, 2025 • 100 episodes • 87
arclabmit/spacecraft_moonlanding_dataset

spacecraft • Updated Jul 31, 2025 • 100 episodes • 155

BEAVR Bot Models

Models trained using BEAVR repo

arclabmit/lx7r_act_pickup_model

Robotics • 51.7M • Updated Sep 9, 2025 • 5
arclabmit/lx7r_diffusion_pickup_model

Robotics • 0.3B • Updated Sep 9, 2025 • 6
arclabmit/lx7r_smolvla_pickup_model

Robotics • 0.5B • Updated Sep 9, 2025 • 9

Rendezvous and proximity operations models using IL / RL

arclabmit/iss_docking_act_model

Robotics • 51.7M • Updated Sep 9, 2025 • 15 • 1
arclabmit/lunar_lander_act_model

51.7M • Updated Apr 17, 2025 • 4
arclabmit/lunar_lander_mini_act_model

51.7M • Updated Jul 24, 2025 • 3
arclabmit/iss_docking_act_300000_model

51.6M • Updated Jul 25, 2025 • 2

Koch Robot Dataset Collection

arclabmit/koch_gearbin_augmented_dataset

Koch • Updated Apr 24, 2025 • 50 episodes • 134
arclabmit/koch_cubebin_dataset

Viewer • Updated Apr 25, 2025 • 100 • 107
arclabmit/koch_masked_cubebin_dataset

Viewer • Updated Apr 26, 2025 • 200 • 96

Datasets and models collected and trained in simulation using BEAVR

arclabmit/xarm7_beavrsim_pickplace_dataset

xArm • Updated Jan 9 • 54 episodes • 29
arclabmit/xarm7_act_beavrsim_pickplace_model

Robotics • 51.7M • Updated Jan 27 • 7
arclabmit/xarm7_diffusion_beavrsim_pickplace_model

Robotics • 0.3B • Updated Jan 27 • 8
arclabmit/xarm7_beavrsim_shellgame_dataset

xArm • Updated Jan 19 • 100 episodes • 35

Aloha Sim Models

Models trained using the Aloha Gym environment for benchmarking in simulation

lerobot/act_aloha_sim_insertion_human

Robotics • 51.7M • Updated Mar 6, 2025 • 188 • 12
lerobot/act_aloha_sim_transfer_cube_human

Robotics • 51.7M • Updated Mar 6, 2025 • 3.11k • 38

Research Papers

BEAVR: Bimanual, multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots

Paper • 2508.09606 • Published Aug 13, 2025 • 1
Action Chunking with Transformers for Image-Based Spacecraft Guidance and Control

Paper • 2509.04628 • Published Sep 4, 2025 • 1

Datasets for spacecraft RPO

arclabmit/spacecraft_issdocking_dataset

spacecraft • Updated Sep 9, 2025 • 100 episodes • 87
arclabmit/spacecraft_moonlanding_dataset

spacecraft • Updated Jul 31, 2025 • 100 episodes • 155

BEAVR Bot Evaluation Datasets

arclabmit/eval_lx7r_act_pickup_model

multi_robot • Updated Jul 10, 2025 • 10 episodes • 21
arclabmit/eval_lx7r_diffusion_pickup_model

multi_robot • Updated Jul 14, 2025 • 10 episodes • 65
arclabmit/eval_lx7r_smolvla_pickup_model

multi_robot • Updated Jul 14, 2025 • 10 episodes • 104

BEAVR Bot Models

Models trained using BEAVR repo

arclabmit/lx7r_act_pickup_model

Robotics • 51.7M • Updated Sep 9, 2025 • 5
arclabmit/lx7r_diffusion_pickup_model

Robotics • 0.3B • Updated Sep 9, 2025 • 6
arclabmit/lx7r_smolvla_pickup_model

Robotics • 0.5B • Updated Sep 9, 2025 • 9

BEAVR Bot Datasets

Datasets collected using the BEAVR repo

arclabmit/lx7r_tape_insert_dataset

multi_robot • Updated Jul 10, 2025 • 10 episodes • 47
arclabmit/lx7r_lantern_grasp_dataset

multi_robot • Updated Jul 10, 2025 • 10 episodes • 45
arclabmit/lx7r_stack_blocks_dataset

multi_robot • Updated Jul 10, 2025 • 11 episodes • 87
arclabmit/lx7r_pickup_dataset

multi_robot • Updated Sep 9, 2025 • 50 episodes • 302

Rendezvous and proximity operations models using IL / RL

arclabmit/iss_docking_act_model

Robotics • 51.7M • Updated Sep 9, 2025 • 15 • 1
arclabmit/lunar_lander_act_model

51.7M • Updated Apr 17, 2025 • 4
arclabmit/lunar_lander_mini_act_model

51.7M • Updated Jul 24, 2025 • 3
arclabmit/iss_docking_act_300000_model

51.6M • Updated Jul 25, 2025 • 2

Koch Robot Evalulation Datasets

arclabmit/eval_koch_act_cubebin_distractors

Koch • Updated Apr 28, 2025 • 10 episodes • 29
arclabmit/eval_koch_act_cubebin

Koch • Updated Apr 28, 2025 • 10 episodes • 70
arclabmit/eval_koch_act_masked_cubebin_distractors

Viewer • Updated Apr 28, 2025 • 20 • 5
arclabmit/eval_koch_masked_act_cubebin

Viewer • Updated Apr 28, 2025 • 20 • 17

Koch Robot Dataset Collection

arclabmit/koch_gearbin_augmented_dataset

Koch • Updated Apr 24, 2025 • 50 episodes • 134
arclabmit/koch_cubebin_dataset

Viewer • Updated Apr 25, 2025 • 100 • 107
arclabmit/koch_masked_cubebin_dataset

Viewer • Updated Apr 26, 2025 • 200 • 96

Koch Robot Model Collection

arclabmit/koch_act_cubebin_model

51.7M • Updated Apr 26, 2025 • 3
arclabmit/koch_act_masked_cubebin_model

51.7M • Updated Apr 27, 2025 • 8
arclabmit/koch_act_masked_gearbin

51.7M • Updated Apr 24, 2025 • 2
arclabmit/koch_act_boxbin_model

51.7M • Updated Apr 30, 2025 • 3

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