24 citations · 62 across the 5 of their papers we have counts for
7 papers
Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning
Wenlong Huang, Igor Mordatch, Pieter Abbeel +1
Dexterous manipulation of arbitrary objects, a fundamental daily task for humans, has been a grand challenge for autonomous robotic systems. Although data-driven approaches using r…
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…
Discovering and Achieving Goals via World Models
Russell Mendonca, Oleh Rybkin, Kostas Daniilidis +2
How can artificial agents learn to solve many diverse tasks in complex visual environments in the absence of any supervision? We decompose this question into two problems: discover…
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…
Neural Dynamic Policies for End-to-End Sensorimotor Learning
Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta +1
The current dominant paradigm in sensorimotor control, whether imitation or reinforcement learning, is to train policies directly in raw action spaces such as torque, joint angle,…
Worldsheet: Wrapping the World in a 3D Sheet for View Synthesis from a Single Image
Ronghang Hu, Nikhila Ravi, Alexander C. Berg +1
We present Worldsheet, a method for novel view synthesis using just a single RGB image as input. The main insight is that simply shrink-wrapping a planar mesh sheet onto the input…