42 citations · 112 across the 8 of their papers we have counts for
8 papers
Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design
Xiaomeng Xu, Huy Ha, Shuran Song
We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and…
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition
Huy Ha, Pete Florence, Shuran Song
We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a…
Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation
Alper Canberk, Cheng Chi, Huy Ha +4
Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of "canonicaliz…
Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects
Arpit Bahety, Shreeya Jain, Huy Ha +5
We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a…
Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models
Huy Ha, Shuran Song
We study open-world 3D scene understanding, a family of tasks that require agents to reason about their 3D environment with an open-set vocabulary and out-of-domain visual inputs -…
FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding
Huy Ha, Shuran Song
High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding o…
Fit2Form: 3D Generative Model for Robot Gripper Form Design
Huy Ha, Shubham Agrawal, Shuran Song
The 3D shape of a robot's end-effector plays a critical role in determining it's functionality and overall performance. Many industrial applications rely on task-specific gripper d…
Learning a Decentralized Multi-arm Motion Planner
Huy Ha, Jingxi Xu, Shuran Song
We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whos…