31 citations · 121 across the 10 of their papers we have counts for
10 papers
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
Zipeng Fu, Tony Z. Zhao, Chelsea Finn
Imitation learning from human demonstrations has shown impressive performance in robotics. However, most results focus on table-top manipulation, lacking the mobility and dexterity…
Adapt On-the-Go: Behavior Modulation for Single-Life Robot Deployment
Annie S. Chen, Govind Chada, Laura Smith +4
To succeed in the real world, robots must cope with situations that differ from those seen during training. We study the problem of adapting on-the-fly to such novel scenarios duri…
Robot Parkour Learning
Ziwen Zhuang, Zipeng Fu, Jianren Wang +4
Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse…
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
Zipeng Fu, Xuxin Cheng, Deepak Pathak
An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. Th…
Coupling Vision and Proprioception for Navigation of Legged Robots
Zipeng Fu, Ashish Kumar, Ananye Agarwal +3
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traver…
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots
Zipeng Fu, Ashish Kumar, Jitendra Malik +1
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged rob…
Emergence of Theory of Mind Collaboration in Multiagent Systems
Luyao Yuan, Zipeng Fu, Linqi Zhou +2
Currently, in the study of multiagent systems, the intentions of agents are usually ignored. Nonetheless, as pointed out by Theory of Mind (ToM), people regularly reason about othe…
RMA: Rapid Motor Adaptation for Legged Robots
Ashish Kumar, Zipeng Fu, Deepak Pathak +1
Successful real-world deployment of legged robots would require them to adapt in real-time to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper…
Emergence of Pragmatics from Referential Game between Theory of Mind Agents
Luyao Yuan, Zipeng Fu, Jingyue Shen +3
Pragmatics studies how context can contribute to language meanings. In human communication, language is never interpreted out of context, and sentences can usually convey more info…
Machine Learning Forcefield for Silicate Glasses
Han Liu, Zipeng Fu, Yipeng Li +2
Developing accurate, transferable, and computationally-efficient interatomic forcefields is key to facilitate the modeling of silicate glasses. However, the high number of forcefie…