6 papers
Modality-Autoregressive World-Action Models
Adam Hung, Bardienus P. Duisterhof, Deva Ramanan +1
World-action models (WAMs) jointly model future observations and actions, typically predicting the future as RGB images. Other visual modalities such as depth, pretrained visual fe…
3PoinTr: From Human Videos to Robot Policies with 3D Point-Track Plans
Adam Hung, Bardienus Pieter Duisterhof, Jeffrey Ichnowski
Human videos could reduce the reliance on expensive robot demonstrations, but extracting task-relevant features remains challenging. We introduce 3PoinTr, a method that provides ro…
AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation
Adam Hung, Fan Yang, Abhinav Kumar +4
Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous m…
MapExRL: Human-Inspired Indoor Exploration with Predicted Environment Context and Reinforcement Learning
Narek Harutyunyan, Brady Moon, Seungchan Kim +3
Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-…
RoPotter: Toward Robotic Pottery and Deformable Object Manipulation with Structural Priors
Uksang Yoo, Adam Hung, Jonathan Francis +2
Humans are capable of continuously manipulating a wide variety of deformable objects into complex shapes. This is made possible by our intuitive understanding of material propertie…
SKOOTR: A SKating, Omni-Oriented, Tripedal Robot
Adam Joshua Hung, Challen Enninful Adu, Talia Y. Moore
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, whi…