5 papers · 1 filter
3PoinTr: 3D Point Tracks for Learning Manipulation from Unconstrained Human Videos
Adam Hung, Bardienus Pieter Duisterhof, Jeffrey Ichnowski
Learning manipulation policies from human videos could greatly reduce the need for expensive robot demonstrations, but existing approaches typically require restrictive assumptions…
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…