Publications (23)
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel +1
Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to…
Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects
Arpit Bahety, Shreeya Jain, Huy Ha +5
We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a…
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies
Jialiang Zhao, Naveen Kuppuswamy, Siyuan Feng +2
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic…
Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation
Alper Canberk, Cheng Chi, Huy Ha +4
Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of "canonicaliz…
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu +79
Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently…
Should VLMs be Pre-trained with Image Data?
Sedrick Keh, Jean Mercat, Samir Yitzhak Gadre +8
Pre-trained LLMs that are further trained with image data perform well on vision-language tasks. While adding images during a second training phase effectively unlocks this capabil…