1 citations · 1 across the 4 of their papers we have counts for
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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…