2 citations · 4 across the 7 of their papers we have counts for
7 papers
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu +79
Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently…
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies
Jialiang Zhao, Naveen Kuppuswamy, Siyuan Feng +2
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic…
Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
Yifan Hou, Zeyi Liu, Cheng Chi +5
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by toda…
Robot Learning as an Empirical Science: Best Practices for Policy Evaluation
Hadas Kress-Gazit, Kunimatsu Hashimoto, Naveen Kuppuswamy +5
The robot learning community has made great strides in recent years, proposing new architectures and showcasing impressive new capabilities; however, the dominant metric used in th…
Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation
Tao Chen, Eric Cousineau, Naveen Kuppuswamy +1
Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works tha…
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Zeyi Liu, Cheng Chi, Eric Cousineau +3
Audio signals provide rich information for the robot interaction and object properties through contact. This information can surprisingly ease the learning of contact-rich robot ma…
Stretch with Stretch: Physical Therapy Exercise Games Led by a Mobile Manipulator
Matthew Lamsey, You Liang Tan, Meredith D. Wells +10
Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and a…