7 citations · 14 across the 9 of their papers we have counts for
3 papers · 1 filter
A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
Michael Drolet, Simon Stepputtis, Siva Kailas +4
Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance h…
ShapeGrasp: Zero-Shot Task-Oriented Grasping with Large Language Models through Geometric Decomposition
Samuel Li, Sarthak Bhagat, Joseph Campbell +4
Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuiti…
A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies
Simon Stepputtis, Maryam Bandari, Stefan Schaal +1
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich…