62 citations · 80 across the 6 of their papers we have counts for
5 papers · 1 filter
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Yen-Jen Wang, Jiaman Li, Sirui Chen +9
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egoc…
SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty
Sirui Chen, Jeannette Bohg, C. Karen Liu
Generating stable and robust grasps on arbitrary objects is critical for dexterous robotic hands, marking a significant step towards advanced dexterous manipulation. Previous studi…
Learning to Navigate Sidewalks in Outdoor Environments
Maks Sorokin, Jie Tan, C. Karen Liu +1
Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This p…
iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
Chengshu Li, Fei Xia, Roberto Martín-Martín +13
Recent research in embodied AI has been boosted by the use of simulation environments to develop and train robot learning approaches. However, the use of simulation has skewed the…
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments
Visak Kumar, Sehoon Ha, C. Karen Liu
Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challengi…