169 citations · 661 across the 22 of their papers we have counts for
6 papers · 1 filter
DFields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
Yixuan Wang, Mingtong Zhang, Zhuoran Li +5
Scene representation is a crucial design choice in robotic manipulation systems. An ideal representation is expected to be 3D, dynamic, and semantic to meet the demands of diverse…
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
Wenlong Huang, Chen Wang, Ruohan Zhang +3
Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the p…
Dynamic-Resolution Model Learning for Object Pile Manipulation
Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell +2
Dynamics models learned from visual observations have shown to be effective in various robotic manipulation tasks. One of the key questions for learning such dynamics models is wha…
Multi-Object Manipulation via Object-Centric Neural Scattering Functions
Stephen Tian, Yancheng Cai, Hong-Xing Yu +5
Learned visual dynamics models have proven effective for robotic manipulation tasks. Yet, it remains unclear how best to represent scenes involving multi-object interactions. Curre…
RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools
Haochen Shi, Huazhe Xu, Samuel Clarke +2
Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often reg…
RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks
Haochen Shi, Huazhe Xu, Zhiao Huang +2
Modeling and manipulating elasto-plastic objects are essential capabilities for robots to perform complex industrial and household interaction tasks (e.g., stuffing dumplings, roll…