8 citations · 14 across the 6 of their papers we have counts for
6 papers
One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation
Zhendong Wang, Zhaoshuo Li, Ajay Mandlekar +9
Diffusion models, praised for their success in generative tasks, are increasingly being applied to robotics, demonstrating exceptional performance in behavior cloning. However, the…
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Bingjie Tang, Iretiayo Akinola, Jie Xu +7
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-t…
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen +5
Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely c…
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
Bingjie Tang, Michael A. Lin, Iretiayo Akinola +5
Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses,…
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Isabella Huang, Yashraj Narang, Ruzena Bajcsy +3
Robotic grasping of 3D deformable objects is critical for real-world applications such as food handling and robotic surgery. Unlike rigid and articulated objects, 3D deformable obj…
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
Henry M. Clever, Ankur Handa, Hammad Mazhar +7
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to commun…