132 citations · 400 across the 9 of their papers we have counts for
7 papers · 1 filter
Generalizable Task Planning through Representation Pretraining
Chen Wang, Danfei Xu, Li Fei-Fei
The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is o…
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong +7
Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch…
Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control
Chen Wang, Rui Wang, Ajay Mandlekar +3
Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to new scene configuratio…
Lightweight 3-D Localization and Mapping for Solid-State LiDAR
Han Wang, Chen Wang, Lihua Xie
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Ex…
Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment
Han Wang, Chen Wang, Lihua Xie
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection A…
SwingBot: Learning Physical Features from In-hand Tactile Exploration for Dynamic Swing-up Manipulation
Chen Wang, Shaoxiong Wang, Branden Romero +2
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity…