16 citations · 18 across the 9 of their papers we have counts for
4 papers · 1 filter
Local-Canonicalization Equivariant Graph Neural Networks for Sample-Efficient and Generalizable Swarm Robot Control
Keqin Wang, Tao Zhong, David Chang +1
Multi-agent reinforcement learning (MARL) policies for swarm control often learn inefficiently and generalize poorly across coordinate frames, team sizes, and agent roles. We intro…
Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schrödinger Bridges
Tao Zhong, Jonah Buchanan, Christine Allen-Blanchette
We propose a new approach to vision-based dexterous grasp translation, which aims to transfer grasp intent across robotic hands with differing morphologies. Given a visual observat…
GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping
Tao Zhong, Christine Allen-Blanchette
We propose GAGrasp, a novel framework for dexterous grasp generation that leverages geometric algebra representations to enforce equivariance to SE(3) transformations. By encoding…
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Dylan Turpin, Tao Zhong, Shutong Zhang +8
Multi-finger grasping relies on high quality training data, which is hard to obtain: human data is hard to transfer and synthetic data relies on simplifying assumptions that reduce…