1 citations · 1 across the 4 of their papers we have counts for
8 papers
FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving
Yutong Liang, Quanquan Peng, Matthew Kim +1
Manipulating a Rubik's Cube with a single dexterous hand is a challenging test of sustained, contact-rich control: the hand must execute successive layer turns while keeping the cu…
Safe Score Matching: Diffusion Policies with Hamilton-Jacobi Reachability for Online Safe Reinforcement Learning
Boyang Li, Matthew Kim, Sylvia Lee Herbert
Online safe reinforcement learning (RL) seeks policies that maximize reward while satisfying safety constraints. A popular line of research in safe RL relaxes safety to a soft expe…
Constrained Flow Policy Updates: A Generalized Schrödinger Bridge View
Boyang Li, Matthew Kim, Sylvia Herbert
Online safe reinforcement learning (RL) seeks policies that maximize reward while satisfying safety constraints. Reward and safety can induce multimodal action distributions, chall…
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
Zhaoyuan Gu, Yipu Chen, Zimeng Chai +11
Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation command tracking under complex robot-environment dynamics and long-horizon…
How Well Do Latent World Models Understand Partially Observable Safety Constraints?
Matthew Kim, Kensuke Nakamura, Andrea Bajcsy
Latent world models are a promising approach for learning state representations and dynamics directly from high-dimensional observations, enabling robot control in hard-to-model se…
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
Hao-Shu Fang, Branden Romero, Yichen Xie +9
We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. W…
Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions
Matthew Kim, William Sharpless, Hyun Joe Jeong +3
Recent developments in autonomous driving and robotics underscore the necessity of safety-critical controllers. Control barrier functions (CBFs) are a popular method for appending…
Koopman-Hopf Hamilton-Jacobi Reachability and Control
Will Sharpless, Nikhil Shinde, Matthew Kim +2
The Hopf formula for Hamilton-Jacobi reachability (HJR) analysis has been proposed to solve high-dimensional differential games, producing the set of initial states and correspondi…