Publications (4)
RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning
Kevin Zakka, Philipp Wu, Laura Smith +8
Replicating human-like dexterity in robot hands represents one of the largest open problems in robotics. Reinforcement learning is a promising approach that has achieved impressive…
Fast Contact-Implicit Model-Predictive Control
Simon Le Cleac'h, Taylor Howell, Shuo Yang +5
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes li…
Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
Taylor Howell, Nimrod Gileadi, Saran Tunyasuvunakool +3
We introduce MuJoCo MPC (MJPC), an open-source, interactive application and software framework for real-time predictive control, based on MuJoCo physics. MJPC allows the user to ea…
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
Zilin Si, Jose Enrique Chen, M. Emre Karagozler +15
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This…