2 citations · 4 across the 7 of their papers we have counts for
7 papers
Geometry-Aware Motion Latents for Learning Robust Manipulation Policies
Yunchao Zhang, Yijia Weng, Ruizhe Liu +3
Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-d…
Robot Learning from Any Images
Siheng Zhao, Jiageng Mao, Wei Chow +11
We introduce RoLA, a framework that transforms any in-the-wild image into an interactive, physics-enabled robotic environment. Unlike previous methods, RoLA operates directly on a…
Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects
Yijia Weng, Bowen Wen, Jonathan Tremblay +4
We address the problem of building digital twins of unknown articulated objects from two RGBD scans of the object at different articulation states. We decompose the problem into tw…
Rethinking Directional Integration in Neural Radiance Fields
Congyue Deng, Jiawei Yang, Leonidas Guibas +1
Recent works use the Neural radiance field (NeRF) to perform multi-view 3D reconstruction, providing a significant leap in rendering photorealistic scenes. However, despite its eff…
SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation
Qianxu Wang, Haotong Zhang, Congyue Deng +4
Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a capability rooted in their understanding of s…
EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation
Jingyun Yang, Congyue Deng, Jimmy Wu +3
If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still…
AO-Grasp: Articulated Object Grasp Generation
Carlota Parés Morlans, Claire Chen, Yijia Weng +6
We introduce AO-Grasp, a grasp proposal method that generates 6 DoF grasps that enable robots to interact with articulated objects, such as opening and closing cabinets and applian…