13 citations · 37 across the 14 of their papers we have counts for
4 papers · 1 filter
Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
Yifan Hou, Zeyi Liu, Cheng Chi +5
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by toda…
Robot Learning as an Empirical Science: Best Practices for Policy Evaluation
Hadas Kress-Gazit, Kunimatsu Hashimoto, Naveen Kuppuswamy +5
The robot learning community has made great strides in recent years, proposing new architectures and showcasing impressive new capabilities; however, the dominant metric used in th…
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Zeyi Liu, Cheng Chi, Eric Cousineau +3
Audio signals provide rich information for the robot interaction and object properties through contact. This information can surprisingly ease the learning of contact-rich robot ma…
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
Cheng Chi, Zhenjia Xu, Chuer Pan +5
We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to depl…