161 citations · 468 across the 27 of their papers we have counts for
6 papers · 1 filter
Differentiable Spatial Planning using Transformers
Devendra Singh Chaplot, Deepak Pathak, Jitendra Malik
We consider the problem of spatial path planning. In contrast to the classical solutions which optimize a new plan from scratch and assume access to the full map with ground truth…
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…
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…