24 citations · 25 across the 9 of their papers we have counts for
9 papers
SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing
Stone Tao, Jie Xu, Hesam Rabeti +3
Linear-deformable manipulation remains challenging due to the complex deformations of objects such as cables and ropes. Prior data-driven approaches, particularly imitation learnin…
EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioning
Wanhao Niu, Qiyan Ke, Yuan Sun +5
Cross-end-effector grasp generation seeks a unified model that generalizes across objects and across embodiments ranging from parallel grippers to dexterous end effectors. Existing…
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
Binghao Huang, Jie Xu, Iretiayo Akinola +8
Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to…
Refinery: Active Fine-tuning and Deployment-time Optimization for Contact-Rich Policies
Bingjie Tang, Iretiayo Akinola, Jie Xu +6
Simulation-based learning has enabled policies for precise, contact-rich tasks (e.g., robotic assembly) to reach high success rates (~80%) under high levels of observation noise an…
Neural Robot Dynamics
Jie Xu, Eric Heiden, Iretiayo Akinola +3
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising…
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
Cheng-Chun Hsu, Bowen Wen, Jie Xu +5
We introduce SPOT, an object-centric imitation learning framework. The key idea is to capture each task by an object-centric representation, specifically the SE(3) object pose traj…
TacSL: A Library for Visuotactile Sensor Simulation and Learning
Iretiayo Akinola, Jie Xu, Jan Carius +2
For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensin…
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Bingjie Tang, Iretiayo Akinola, Jie Xu +7
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-t…
Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following
Motoya Ohnishi, Iretiayo Akinola, Jie Xu +2
Path signatures have been proposed as a powerful representation of paths that efficiently captures the path's analytic and geometric characteristics, having useful algebraic proper…