13 citations · 25 across the 13 of their papers we have counts for
5 papers · 1 filter
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…
Conditional Energy-Based Models for Implicit Policies: The Gap between Theory and Practice
Duy-Nguyen Ta, Eric Cousineau, Huihua Zhao +1
We present our findings in the gap between theory and practice of using conditional energy-based models (EBM) as an implicit representation for behavior-cloned policies. We also cl…
DextAIRity: Deformable Manipulation Can be a Breeze
Zhenjia Xu, Cheng Chi, Benjamin Burchfiel +3
This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRit…
Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects
Cheng Chi, Benjamin Burchfiel, Eric Cousineau +2
This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deform…