262 citations · 430 across the 32 of their papers we have counts for
3 papers · 1 filter
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
Binghao Huang, Jie Xu, Iretiayo Akinola +8
Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to…
Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control
Jun Yamada, Adithyavairavan Murali, Ajay Mandlekar +3
Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered enviro…
GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training
Adithyavairavan Murali, Balakumar Sundaralingam, Yu-Wei Chao +7
Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize acro…