93 citations · 312 across the 10 of their papers we have counts for
10 papers
MeMo: Meaningful, Modular Controllers via Noise Injection
Megan Tjandrasuwita, Jie Xu, Armando Solar-Lezama +1
Robots are often built from standardized assemblies, (e.g. arms, legs, or fingers), but each robot must be trained from scratch to control all the actuators of all the parts togeth…
RVT: Robotic View Transformer for 3D Object Manipulation
Ankit Goyal, Jie Xu, Yijie Guo +3
For 3D object manipulation, methods that build an explicit 3D representation perform better than those relying only on camera images. But using explicit 3D representations like vox…
Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly
Yunsheng Tian, Jie Xu, Yichen Li +5
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, p…
An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
Lara Zlokapa, Yiyue Luo, Jie Xu +4
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend…
Accelerated Policy Learning with Parallel Differentiable Simulation
Jie Xu, Viktor Makoviychuk, Yashraj Narang +4
Deep reinforcement learning can generate complex control policies, but requires large amounts of training data to work effectively. Recent work has attempted to address this issue…
Evolution Gym: A Large-Scale Benchmark for Evolving Soft Robots
Jagdeep Singh Bhatia, Holly Jackson, Yunsheng Tian +2
Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics com…
Closed-Loop Control of Direct Ink Writing via Reinforcement Learning
Michal Piovarci, Michael Foshey, Jie Xu +6
Enabling additive manufacturing to employ a wide range of novel, functional materials can be a major boost to this technology. However, making such materials printable requires pai…
An End-to-End Differentiable Framework for Contact-Aware Robot Design
Jie Xu, Tao Chen, Lara Zlokapa +4
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are…
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design
Jie Xu, Andrew Spielberg, Allan Zhao +2
We present methods for co-designing rigid robots over control and morphology (including discrete topology) over multiple objectives. Previous work has addressed problems in single-…
DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact
Yifei Li, Tao Du, Kui Wu +2
Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional grad…