580 citations · 622 across the 20 of their papers we have counts for
8 papers · 1 filter
Coordinated Humanoid Manipulation with Choice Policies
Haozhi Qi, Yen-Jen Wang, Toru Lin +4
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challe…
Flow Matching Policy Gradients
David McAllister, Songwei Ge, Brent Yi +5
Flow-based generative models, including diffusion models, excel at modeling continuous distributions in high-dimensional spaces. In this work, we introduce Flow Policy Optimization…
Viser: Imperative, Web-based 3D Visualization in Python
Brent Yi, Chung Min Kim, Justin Kerr +8
We present Viser, a 3D visualization library for computer vision and robotics. Viser aims to bring easy and extensible 3D visualization to Python: we provide a comprehensive set of…
Cameras as Relative Positional Encoding
Ruilong Li, Brent Yi, Junchen Liu +3
Transformers are increasingly prevalent for multi-view computer vision tasks, where geometric relationships between viewpoints are critical for 3D perception. To leverage these rel…
Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
Justin Kerr, Kush Hari, Ethan Weber +5
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that e…
PyRoki: A Modular Toolkit for Robot Kinematic Optimization
Chung Min Kim, Brent Yi, Hongsuk Choi +3
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present P…
Predict-Optimize-Distill: A Self-Improving Cycle for 4D Object Understanding
Mingxuan Wu, Huang Huang, Justin Kerr +4
Humans can resort to long-form inspection to build intuition on predicting the 3D configurations of unseen objects. The more we observe the object motion, the better we get at pred…
From Simple to Complex Skills: The Case of In-Hand Object Reorientation
Haozhi Qi, Brent Yi, Mike Lambeta +3
Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each ne…