4 papers
Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments
Yoonyoung Cho, Junhyek Han, Jisu Han +1
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspab…
CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects
Yoonyoung Cho, Junhyek Han, Yoontae Cho +1
Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in c…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer
Minchan Kim, Junhyek Han, Jaehyung Kim +1
We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate a…