141 citations · 399 across the 34 of their papers we have counts for
4 papers · 1 filter
cuArms: GPU-Accelerated Conflict-Based Planning for Multi-Arm Manipulation
Philip Huang, Fabio Ramos, Jiaoyang Li +2
Multi-arm manipulation has the potential to dramatically improve the throughput, efficiency, and dexterity of many manipulation tasks. Recent work coordinates multiple robot arms i…
DemoStream: Batched Task-and-Motion-Plan Optimization for Automated Learning from Demonstration
Caelan Garrett, Neel Jawale, Fabio Ramos
Learning from demonstration is an effective strategy for endowing robots with manipulation capabilities but requires training on datasets comprised of massive amounts of demonstrat…
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning
Shuo Cheng, Chuye Zhang, Alfred Cueva +3
Human videos are a scalable source of supervision for robot manipulation, as they are abundant and naturally capture rich object interactions. However, transferring human demonstra…
HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett +7
Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and…