7 citations · 16 across the 12 of their papers we have counts for
12 papers
Self-Supervised Learning of Dynamic Planar Manipulation of Free-End Cables
Jonathan Wang, Huang Huang, Vincent Lim +5
Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic m…
Learning Correspondence for Deformable Objects
Priya Sundaresan, Aditya Ganapathi, Harry Zhang +1
We investigate the problem of pixelwise correspondence for deformable objects, namely cloth and rope, by comparing both classical and learning-based methods. We choose cloth and ro…
Safe Deep Model-Based Reinforcement Learning with Lyapunov Functions
Harry Zhang
Model-based Reinforcement Learning (MBRL) has shown many desirable properties for intelligent control tasks. However, satisfying safety and stability constraints during training an…
Towards Improving Learning from Demonstration Algorithms via MCMC Methods
Carl Qi, Edward Sun, Harry Zhang
Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to im…
APLA: Additional Perturbation for Latent Noise with Adversarial Training Enables Consistency
Yupu Yao, Shangqi Deng, Zihan Cao +2
Diffusion models have exhibited promising progress in video generation. However, they often struggle to retain consistent details within local regions across frames. One underlying…
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection
Harry Zhang, Ben Eisner, David Held
Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to…
DiffCLIP: Leveraging Stable Diffusion for Language Grounded 3D Classification
Sitian Shen, Zilin Zhu, Linqian Fan +2
Large pre-trained models have had a significant impact on computer vision by enabling multi-modal learning, where the CLIP model has achieved impressive results in image classifica…
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation
Chuer Pan, Brian Okorn, Harry Zhang +2
How do we imbue robots with the ability to efficiently manipulate unseen objects and transfer relevant skills based on demonstrations? End-to-end learning methods often fail to gen…
FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects
Ben Eisner, Harry Zhang, David Held
We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based sy…
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms
Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna +2
Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in…
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables
Harry Zhang, Jeffrey Ichnowski, Daniel Seita +3
We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we…
6-DoF Grasp Planning using Fast 3D Reconstruction and Grasp Quality CNN
Yahav Avigal, Samuel Paradis, Harry Zhang
Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive an…