Stäubli TP80 pick and place
no_kids_for_dads (2015). Original video · Wikimedia copy · CC BY 3.0.
Short excerpts; audio removed, scaled, and labeled. No added playback-speed change.
SOURCES & ACKNOWLEDGMENTS
Good research
builds on shared work.
Our thanks to the researchers and creators who make their work accessible. Research figures and reported numerical results on this website belong to The Unexpired Plan: A Free Monitor for Accelerated Diffusion Policies, by Yi Zhao and Sebastian Scherer.
Reading the evidence
The interactive evidence panel uses the two original Figure 1 frames for each condition. It switches between inspection and outcome; it does not synthesize intermediate robot motion. Original Figures 1 and 2 can be opened as vector images. The result chart and table reproduce the paper's values, including paired uncertainty and the undecided PushT result.
The moving comparison is an original controlled MuJoCo illustration. Its inputs are synthetic, its object attachment is choreographed, and object contact is disabled. The actual monitor controls the monitored arm, using deviation-triggered fallback and persistent demotion. The near-repetition veto is disabled in this illustration. Both clips share the initial state, disturbance, reference schedule, camera, duration, and playback speed. Neither these two trials nor the real-robot excerpts constitute additional benchmark evidence.
Real-robot footage in the film
These excerpts provide physical context. They do not show our method deployed on hardware and imply no endorsement by their creators. All of our paper's reported closed-loop evaluations are in simulation.
Baxter object manipulation
Muhannad Alomari, David C. Hogg, and Anthony G. Cohn, University of Leeds (2017). Research dataset · Footage · CC BY 4.0.
Short excerpts; audio and black side bars removed, scaled, and labeled. No added playback-speed change.
A-Lab preparation and sample handling
Nathan J. Szymanski, Bernardus Rendy, Yuxing Fei, Rishi E. Kumar, Tanjin He, David Milsted, Matthew J. McDermott, Max Gallant, Ekin Dogus Cubuk, Amil Merchant, Haegyeom Kim, Anubhav Jain, Christopher J. Bartel, Kristin Persson, Yan Zeng, and Gerbrand Ceder (2023). Research article · R1 footage · R3 footage · CC BY 4.0.
Short excerpts; audio removed, scaled, and labeled. The source supplies R1 at 20× and R3 at 12×; these speeds are shown in the film. No additional speed change is applied.
Simulation, type, and sound
- MuJoCo Menagerie, Franka Emika Panda model, Apache 2.0. Model revision:
4d038b3feae26ec82b46a4d586379114012a8ac7. - TeX Gyre Termes, GUST Font License, for typography shared with the paper. License text.
- Inter, Rasmus Andersson, SIL Open Font License 1.1, for screen typography. License text.
- Kokoro v1.0, Apache 2.0, using the synthetic English male voice
am_michael, with kokoro-onnx, MIT. Apache license · MIT notice. - The film's quiet score is original; no sampled music is used.
Affiliation and website
AirLab is part of The Robotics Institute at Carnegie Mellon University. The AirLab logo is used to identify that affiliation and remains the property of its owner.
The presentation of Co-Me inspired the project-page format. This website's implementation and its interactive explanations were created for The Unexpired Plan; Co-Me's research results and media are not reused.