22 citations · 33 across the 5 of their papers we have counts for
5 papers
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation
Xuanlin Li, Tong Zhao, Xinghao Zhu +3
Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent comple…
Reparameterized Policy Learning for Multimodal Trajectory Optimization
Zhiao Huang, Litian Liang, Zhan Ling +3
We investigate the challenge of parametrizing policies for reinforcement learning (RL) in high-dimensional continuous action spaces. Our objective is to develop a multimodal policy…
On the Efficacy of 3D Point Cloud Reinforcement Learning
Zhan Ling, Yunchao Yao, Xuanlin Li +1
Recent studies on visual reinforcement learning (visual RL) have explored the use of 3D visual representations. However, none of these work has systematically compared the efficacy…
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li +12
Generalizable manipulation skills, which can be composed to tackle long-horizon and complex daily chores, are one of the cornerstones of Embodied AI. However, existing benchmarks,…
Improving Policy Optimization with Generalist-Specialist Learning
Zhiwei Jia, Xuanlin Li, Zhan Ling +3
Generalization in deep reinforcement learning over unseen environment variations usually requires policy learning over a large set of diverse training variations. We empirically ob…