5 citations · 7 across the 2 of their papers we have counts for
4 papers · 1 filter
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
Pu Hua, Minghuan Liu, Annabella Macaluso +4
Robotic simulation today remains challenging to scale up due to the human efforts required to create diverse simulation tasks and scenes. Simulation-trained policies also face scal…
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers
Lirui Wang, Xinlei Chen, Jialiang Zhao +1
One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for on…
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang +2
6D robotic grasping beyond top-down bin-picking scenarios is a challenging task. Previous solutions based on 6D grasp synthesis with robot motion planning usually operate in an ope…
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
Lirui Wang, Yu Xiang, Dieter Fox
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipula…