6 citations · 10 across the 11 of their papers we have counts for
10 papers · 1 filter
OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation
Arnav Balaji, Arpit Bahety, Sriniket Ambatipudi +3
While robotic manipulation capabilities have advanced rapidly, physical safety remains a major barrier to deploying household robots: task success is insufficient if the robot dama…
CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations
Bowen Jiang, William Painter Reger, Roberto Martin-Martin
In this work, we study Compositional Dexterous Functional Object Manipulation (CD-FOM): tasks such as aiming and actuating a spray bottle on a plant or a glue gun on wood, which re…
Learning to Look: Seeking Information for Decision Making via Policy Factorization
Shivin Dass, Jiaheng Hu, Ben Abbatematteo +2
Many robot manipulation tasks require active or interactive exploration behavior in order to be performed successfully. Such tasks are ubiquitous in embodied domains, where agents…
KinScene: Model-Based Mobile Manipulation of Articulated Scenes
Cheng-Chun Hsu, Ben Abbatematteo, Zhenyu Jiang +3
Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articu…
Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes
Chen Tang, Ben Abbatematteo, Jiaheng Hu +3
Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications,…
Beyond Shortsighted Navigation: Merging Best View Trajectory Planning with Robot Navigation
Srinath Tankasala, Roberto Martín-Martín, Mitch Pryor
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously coll…