19 citations · 34 across the 8 of their papers we have counts for
9 papers
Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
Robert Jomar Malate, Erik Bauer, Norica Bacuieti +4
Advances in learning-based robotic manipulation, such as Vision-Language-Action (VLA) models and Video Action Models (VAMs), heavily rely on high-quality teleoperation data. Their…
mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs
Jonas Pai, Liam Achenbach, Victoriano Montesinos +3
Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a…
mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity
Elvis Nava, Victoriano Montesinos, Erik Bauer +8
We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action in…
Latent Action Diffusion for Cross-Embodiment Manipulation
Erik Bauer, Elvis Nava, Robert K. Katzschmann
End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across rob…
Vision-Language Models are Zero-Shot Reward Models for Reinforcement Learning
Juan Rocamonde, Victoriano Montesinos, Elvis Nava +2
Reinforcement learning (RL) requires either manually specifying a reward function, which is often infeasible, or learning a reward model from a large amount of human feedback, whic…
Meta-Learning via Classifier(-free) Diffusion Guidance
Elvis Nava, Seijin Kobayashi, Yifei Yin +2
We introduce meta-learning algorithms that perform zero-shot weight-space adaptation of neural network models to unseen tasks. Our methods repurpose the popular generative image sy…
Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models
Elvis Nava, John Z. Zhang, Mike Y. Michelis +5
Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier…
Diversified Sampling for Batched Bayesian Optimization with Determinantal Point Processes
Elvis Nava, Mojmír Mutný, Andreas Krause
In Bayesian Optimization (BO) we study black-box function optimization with noisy point evaluations and Bayesian priors. Convergence of BO can be greatly sped up by batching, where…
Sim2Real for Soft Robotic Fish via Differentiable Simulation
John Z. Zhang, Yu Zhang, Pingchuan Ma +5
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning th…