3 citations · 5 across the 6 of their papers we have counts for
7 papers
Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design
Huy Ha, C. Karen Liu, Shuran Song
An often overlooked factor of robot manipulation performance is the embodiment of the robot itself. Motivated by this problem, we study motion-conditioned robot co-design, where th…
UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation
Hao Li, Long Yin Chung, Jack Goler +5
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) au…
UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies
Harsh Gupta, Xiaofeng Guo, Huy Ha +6
We introduce UMI-on-Air, a framework for embodiment-aware deployment of embodiment-agnostic manipulation policies. Our approach leverages diverse, unconstrained human demonstration…
Self-Improving Autonomous Underwater Manipulation
Ruoshi Liu, Huy Ha, Mengxue Hou +2
Underwater robotic manipulation faces significant challenges due to complex fluid dynamics and unstructured environments, causing most manipulation systems to rely heavily on human…
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Huy Ha, Yihuai Gao, Zipeng Fu +2
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world u…
PaperBot: Learning to Design Real-World Tools Using Paper
Ruoshi Liu, Junbang Liang, Sruthi Sudhakar +4
Paper is a cheap, recyclable, and clean material that is often used to make practical tools. Traditional tool design either relies on simulation or physical analysis, which is ofte…
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair +98
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. Ho…