553 citations · 783 across the 28 of their papers we have counts for
8 papers · 1 filter
Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation
Tongxuan Tian, Haoyang Li, Bo Ai +3
Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dyn…
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
Stone Tao, Fanbo Xiang, Arth Shukla +20
Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks an…
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects
Zhenjia Xu, Zhou Xian, Xingyu Lin +4
We introduce RoboNinja, a learning-based cutting system for multi-material objects (i.e., soft objects with rigid cores such as avocados or mangos). In contrast to prior works usin…
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li +12
Generalizable manipulation skills, which can be composed to tackle long-horizon and complex daily chores, are one of the cornerstones of Embodied AI. However, existing benchmarks,…
Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation
Xingyu Lin, Carl Qi, Yunchu Zhang +5
Effective planning of long-horizon deformable object manipulation requires suitable abstractions at both the spatial and temporal levels. Previous methods typically either focus on…
RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks
Haochen Shi, Huazhe Xu, Zhiao Huang +2
Modeling and manipulating elasto-plastic objects are essential capabilities for robots to perform complex industrial and household interaction tasks (e.g., stuffing dumplings, roll…
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics
Sizhe Li, Zhiao Huang, Tao Du +3
Differentiable physics has recently been shown as a powerful tool for solving soft-body manipulation tasks. However, the differentiable physics solver often gets stuck when the ini…
Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation
Xiaoshuai Zhang, Rui Chen, Ang Li +11
In this paper, we focus on the simulation of active stereovision depth sensors, which are popular in both academic and industry communities. Inspired by the underlying mechanism of…