CUPI at Cornell University
Robotics Projects and Technical Reports
Explore Cornell Physical Intelligence (CUPI) robotics projects in manipulation, autonomous perception, navigation, and the Anduril AI Grand Prix.
- Robotic manipulation with vision-language-action policies
- Autonomous drone perception and navigation
- CUPI technical reports and project results
Robotic Manipulation Tasks
The clips above are our fine-tuned π0.5 policy running on our own arm. π0.5 is Physical Intelligence's open vision-language-action model, so we are not training from scratch: the released checkpoint brings broad manipulation priors from web and robot data, and our work is adapting it to the grippers, camera placement, and tasks in our lab.
Autonomous Perception and Navigation
We build the autonomy stack for the Anduril AI Grand Prix, an autonomous drone racing competition run with the Drone Champions League. We passed Virtual Qualifier 1 with a fully deterministic policy: no learned network anywhere in the loop, just dead reckoning against the released course map with visual gate corrections. Virtual Qualifier 2 blocks every pose and gate telemetry stream, leaving a monocular camera and IMU, so the policy now guides on bearings alone and reads closing rate from optical looming.