173 citations · 198 across the 4 of their papers we have counts for
6 papers · 1 filter
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research
Ryan Hoque, Kaushik Shivakumar, Shrey Aeron +7
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud r…
Implicit Behavioral Cloning
Pete Florence, Corey Lynch, Andy Zeng +7
We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly…
Spatial Action Maps for Mobile Manipulation
Jimmy Wu, Xingyuan Sun, Andy Zeng +4
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from im…
Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly
Kevin Zakka, Andy Zeng, Johnny Lee +1
Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely h…
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
Andy Zeng, Shuran Song, Johnny Lee +2
We investigate whether a robot arm can learn to pick and throw arbitrary objects into selected boxes quickly and accurately. Throwing has the potential to increase the physical rea…
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
Andy Zeng, Shuran Song, Stefan Welker +3
Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered obje…