68 citations · 139 across the 18 of their papers we have counts for
5 papers · 1 filter
Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation
Xingyu Lin, Carl Qi, Yunchu Zhang +5
Effective planning of long-horizon deformable object manipulation requires suitable abstractions at both the spatial and temporal levels. Previous methods typically either focus on…
Learning Closed-loop Dough Manipulation Using a Differentiable Reset Module
Carl Qi, Xingyu Lin, David Held
Deformable object manipulation has many applications such as cooking and laundry folding in our daily lives. Manipulating elastoplastic objects such as dough is particularly challe…
Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation
Zixuan Huang, Xingyu Lin, David Held
Self-occlusion is challenging for cloth manipulation, as it makes it difficult to estimate the full state of the cloth. Ideally, a robot trying to unfold a crumpled or folded cloth…
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
Xingyu Lin, Zhiao Huang, Yunzhu Li +3
We consider the problem of sequential robotic manipulation of deformable objects using tools. Previous works have shown that differentiable physics simulators provide gradients to…
Self-supervised Transparent Liquid Segmentation for Robotic Pouring
Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner +2
Liquid state estimation is important for robotics tasks such as pouring; however, estimating the state of transparent liquids is a challenging problem. We propose a novel segmentat…