3 citations · 6 across the 8 of their papers we have counts for
9 papers
Touch2Trace: Tactile-Driven Imitation Learning for Dexterous Cable Tracing
Matteo Grimaldi, David Klee, Ziling Chen +5
Dexterous manipulation of deformable objects demands continuous fingertip-level regulation of pressure, friction, and incipient slip. We study one of the most challenging cases: de…
3D Equivariant Visuomotor Policy Learning via Spherical Projection
Boce Hu, Dian Wang, David Klee +5
Equivariant models have recently been shown to improve the data efficiency of diffusion policy by a significant margin. However, prior work that explored this direction focused pri…
Equivariant Reinforcement Learning under Partial Observability
Hai Nguyen, Andrea Baisero, David Klee +3
Incorporating inductive biases is a promising approach for tackling challenging robot learning domains with sample-efficient solutions. This paper identifies partially observable d…
Equivariant Offline Reinforcement Learning
Arsh Tangri, Ondrej Biza, Dian Wang +3
Sample efficiency is critical when applying learning-based methods to robotic manipulation due to the high cost of collecting expert demonstrations and the challenges of on-robot p…
Equivariant Single View Pose Prediction Via Induced and Restricted Representations
Owen Howell, David Klee, Ondrej Biza +2
Learning about the three-dimensional world from two-dimensional images is a fundamental problem in computer vision. An ideal neural network architecture for such tasks would levera…
SEIL: Simulation-augmented Equivariant Imitation Learning
Mingxi Jia, Dian Wang, Guanang Su +4
In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the…
Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks
David Klee, Ondrej Biza, Robert Platt
Multi-goal policy learning for robotic manipulation is challenging. Prior successes have used state-based representations of the objects or provided demonstration data to facilitat…
Image to Icosahedral Projection for Object Reasoning from Single-View Images
David Klee, Ondrej Biza, Robert Platt +1
Reasoning about 3D objects based on 2D images is challenging due to variations in appearance caused by viewing the object from different orientations. Tasks such as object classifi…
Factored World Models for Zero-Shot Generalization in Robotic Manipulation
Ondrej Biza, Thomas Kipf, David Klee +3
World models for environments with many objects face a combinatorial explosion of states: as the number of objects increases, the number of possible arrangements grows exponentiall…